Adaptive Multi-scale Vision System for Robotic Applications

The paper proposes a system for adaptive multi-scale processing of visual information. The system consists of several components: a hierarchical dynamic graph structure, a network inference algorithm and for low level processing a wavelet based disk transform. The presented system implements a two level data structure. For the high level processing a dynamic tree structure and a Bayesian inference algorithm is used. Every node contains not only position but also scale and rotation information. At the low level it uses hierarchical structure of quadratic spline wavelet image bases