A New Foveated Spacevariant Camera For Robotic Applications

• doi: 10.1109/ICECS.1996.584453
• title: A new foveated space-variant camera for robotic applications
• publisher: IEEE
• isbn: 0-7803-3650-X
• issn:
• partnum: 96TH8229
• rank: 1190
• access_type: LOCKED
• content_type: Conferences
• abstract: A foveated camera has been designed and fabricated. The camera is implemented using a new foveated CMOS sensor which incorporates a log-polar transformation. This transformation has specially interesting properties for image processing including the information selective reduction and some invariances. The structure of this sensor permits an individual access to each pixel, exactly in the same way that the access to a RAM. This is a very interesting property that makes a big difference between a CCD based camera and a CMOS based camera. In the other hand, the CMOS nature of the sensor implies a very important fixed pattern noise due to the mismatch of the cell transistors. A fixed pattern noise correction circuitry has been included in the camera, in order to achieve a good image quality. The solutions adopted for achieving a low noise/signal ratio are also presented. Finally, some guidelines for including this camera in an autonomous navigation system are shown. The easy way for calculating the time-to-impact through this camera suggests the utilization of this sensor system for real-time applications.
• article_number: 584453
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=584453
• html_url: https://ieeexplore.ieee.org/document/584453/
• abstract_url: https://ieeexplore.ieee.org/document/584453/
• publication_title: Proceedings of Third International Conference on Electronics, Circuits, and Systems
• conference_location: Rhodes, Greece
• conference_dates: 16-16 Oct. 1996
• publication_number: 4443
• is_number: 12653
• publication_year: 1996
• publication_date: 16-16 Oct. 1996
• start_page: 680
• end_page: 683 vol.2
• citing_paper_count: 9
• citing_patent_count: 1
• download_count: 76
• insert_date: 20020806
• index_terms:
  • ieee_terms:
    • Robot vision systems
    • Cameras
    • Orbital robotics
    • CMOS image sensors
    • Circuit noise
    • Charge-coupled image sensors
    • Robot sensing systems
    • Image processing
    • Charge coupled devices
    • Image quality
  • dynamic_index_terms:
    • Image Processing
    • Image Quality
    • Linearly Polarized
    • Propagation Direction
    • Optical Axis
    • Fiber Axis
    • Beam Axis
    • Robot Navigation
    • Wide Field Of View
    • Autonomous Navigation
    • Polar Maps
    • Optical Flow
    • Sensor Output
    • Frame Grabber
• isbn_formats:
  • format: Print ISBN, value: 0-7803-3650-X, isbnType: Historical
• authors:
  • Author Name: J.A. Boluda
    Affiliation: Institut de Robòtica, Universitat de València, Valencia, Spain
    Author URL: https://ieeexplore.ieee.org/author/37297994500
    ID: 37297994500
    Order: 1
    Author Affiliations:
    • Institut de Robòtica, Universitat de València, Valencia, Spain
  • Author Name: F. Pardo
    Affiliation: Institut de Robòtica, Universitat de València, Valencia, Spain
    Author URL: https://ieeexplore.ieee.org/author/37289150900
    ID: 37289150900
    Order: 2
    Author Affiliations:
    • Institut de Robòtica, Universitat de València, Valencia, Spain
  • Author Name: T. Kayser
    Affiliation: Fachhochschule Mannheim, Mannheim, Germany
    Author URL: https://ieeexplore.ieee.org/author/37861262900
    ID: 37861262900
    Order: 3
    Author Affiliations:
    • Fachhochschule Mannheim, Mannheim, Germany
  • Author Name: J.J. Perez
    Affiliation: Institut de Robòtica, Universitat de València, Valencia, Spain
    Author URL: https://ieeexplore.ieee.org/author/37289017900
    ID: 37289017900
    Order: 4
    Author Affiliations:
    • Institut de Robòtica, Universitat de València, Valencia, Spain
  • Author Name: J. Pelechano
    Affiliation: Institut de Robòtica, Universitat de València, Valencia, Spain
    Author URL: https://ieeexplore.ieee.org/author/37442736300
    ID: 37442736300
    Order: 5
    Author Affiliations:
    • Institut de Robòtica, Universitat de València, Valencia, Spain

Image Sensor

• sensor_type: CMOS
• resolution: 56x128
• dynamic_range: Not specified
• pixel_size: Not specified
• dark_current: Not specified

Optical Data

• focal_length: Not specified
• aperture: Not specified
• field_of_view: Not specified
• distortion: Not specified

Performance Metrics

• frame_rate: 100 fps
• noise: Fixed pattern noise correction included.

Applications & Benefits

• cell_imaging: Obstacle avoidance in autonomous navigation system, computing time-to-impact for approaching objects.
• benefits: Offers a space-variant representation which reduces data processing requirements.

Supporting Organizations

• supported_by: IMEC (Belgium), Spanish government (CICYT project TAP95-1086-C02-02).

Manuscript Details

• publication_date: 16-16 Oct. 1996

Relevancy Score

• score: 9
• missing_fields:
  • fill factor
  • quantum efficiency
  • readout speed
  • noise sources
  • analog-to-digital conversion techniques
  • microlenses
  • on-chip colour filters
  • global or rolling shutters
  • backside illumination

Processed JSON Filename

request_05ab761a-7126-4296-b74c-a711402d0c32-a_new_foveated_spacevariant_camera_for_robotic_applications.json