Robotic Vision with the Conformal Camera: Modeling Perisaccadic Perception

Figure 3

The conformal camera. (a) Image projective transformations are generated by iterations of transformations covering translations “$h$” and rotations “$k$” of planar objects in the scene. (b) The 2D section of the conformal camera further explains how image projective transformations are generated and how the projective degrees of freedom are reduced in the camera; one image projective transformation in the conformal camera corresponds to different planar objects translations and rotations in the 3D world.

(a)

(b)