Abstract: In the context of mobile robotics, we have evolved a Foveal Visual Pre-processor that detects and extract motion as well as shape. This F.V.P. makes a selective tracking of stimuli. The main interest of this model inspired by the vertebrate retina is its response to stationary or moving stimuli: they can be distinguished according to both their shapes and velocities. This model is adaptive and its multi-resolution characteristics allow the detection of a wide range of velocities. The developed model consists in three parts: the Retina module which is in charge of the visual processing, the process module which processes the neural signals and extracts the velocity vector and the spatial frequencies (i.e.: the shape of the stimulus) and the control module which directs the fovea onto the stimulus and tracks it. The results obtained from the analyses of scenes with, in a first step, a unique moving object have validated the chosen control. One of the interests of our model is the possibility of selecting one stimulus and tracking it. The developed system has a good precision and the object is always caught by the fovea. Indeed, as the biological retina, our sensor adapts to the various conditions of illumination and is robust to noise. !23
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