Motion Detection Independent of the Camera Movement with a Log- Polar Sensor

This paper deals with a differential motion detection technique in log-polar coordinates which allows object motion tracking independently of certain camera movements. The method does not make use of any explicit estimation of the motion field, which can be calculated after the process only in those points belonging to the selfmoving object that is being tracked. The use of these coordinates makes the isolation of the object movement from the image displacement due to camera traslation along its own optical axis or to camera rotation around it. Experimental results on a sequence of real images are included, in which a moving object is detected and optical flow is calculated in log-polar coordinates only for the points of the moving object.