Fig. 8: FBFG vs. EDFG on 2D images.
From: Event-driven figure-ground organisation model for the humanoid robot iCub
Comparison of the results between the EDFG model and the FBFG model21. Colour wheel insets in the second and third columns and the colour bar in the third and fourth columns are as in Fig. S2. The events stream comes directly from the robot’s eyes, for this reason, the size and position of the image contents of the RGB Input do not agree exactly with that in the Events panels (ED Figure Ground and Grouping map). The direction of border ownership in the figure-ground maps (third and fourth column) is defined by the colour wheels, top right in each of these panels. The colour scale next to the grouping maps (fifth and sixth column) represents the response from the model where 0 is the background (blue) and 1 is the foreground (red).
