Fast computation of multiscalar symmetry in foveated images

This paper discusses two components of a Robot Eye intended as an active vision system to be mounted on a mobile robot. The first component is a foveated vision sensor which is based on an overlapping receptive field model for data reduction. We present the adapted scan-line algorithm used to compute so-called retinal images and a description of the implementation of the system on a network of DSP´s. The second component computes salient points in the foveated image and is motivated by the biological processes which guide primate gaze fixation. The model of attention and its real-time implementation are described. Experimental results obtained with these algorithms are also presented