A biologically inspired system for the detection of partially occluded objects

This paper briefly describes the recent development of a robotic vision system, which is based in part on biologically inspired elements and in particular on a saccading space-variant pseudo-sensor. The current system was developed for the detection of partially occluded objects (POOs) in indoors´ environments. It is based on a mixed color-shape local featuring approach. The sensed features are filtered and organized in unique star-like graphs termed local panorama features (LPFs). In addition to the system, brief description, a duality between POOs´ detection and object discrimination are used to strengthen the philosophy that quality comes before quantity in evaluating the detection of POOs by LPFs