Perceptual equivalence of environmental saliency in naturally complex scene

A new framework is presented for saliency based analysis of naturally complex scenes. In this framework, the probability distributions of scale shift and chromatic diversity are extracted as a reference to stable maneuver through the bottom up process based on the image features underlying the scene. The scale-chromatic distributions are organized via fractal coding and articulated to generate the environmental saliency: vehicle specific description of ground-object structure. The scale and chromatic aspects of the environmental saliency are demonstrated to be perceptually equivalent through experimental studies.