Object detection in indoor scenes using log-polar mapping

In this paper a system that successfully detects stationary objects in indoor scenes is presented. The doors and ceiling lamps have been chosen to be detected in the initial phase of the authors´ system. The scene was divided into four different regions, The edges resulting from the walls/ceiling and the walls/floor intersections are the boundaries that separate the different regions. The use of the log-polar mapping transforms the problem of finding four edges of unknown orientations, that separated the different regions, into finding four horizontal edges. The log-polar map was performed such that it possesses the varying resolution property. The objects were detected using model-matching in the log-polar domain. The varying resolution property of the mapping simplified the model-matching problem. The detection (of edges and then objects) was very fast due to the small size of the log-polar image (64×64) pixels