A Hough Transform Implementation for Line Detection for a Mobile Robot Self-Navigation System
Journal Title: IOSR Journals (IOSR Journal of Computer Engineering) - Year 2015, Vol 17, Issue 6
Abstract
Abstract: This paper presents an implementation of the Hough transform for detecting straight lines within rectilinear environments for further processing towards automatic recognition of a path by a mobile robot for the purpose of self-navigation. The results of the processes described in this paper are linesalong whichnavigationally important features from the original image would lie, but whose end-points and lengths have not been determined yet. The input to the processes in this paper is a pre-processed binary image withpixels showing the outline of important edges determined by a scheme discussed in [1]. The processes described in this paper that translate the pre-processed image to detected lines include choice or resolution of parameters for the Hough transform, a discussion of the range of values of the parameters leading to discussion of setting up of the accumulator array, the actual transformation and accumulation. After that, a new scheme for peakdetection is presented involving automatic determination of threshold to apply to the accumulator array entries to determine peaks, application of the butterfly filter to reduce false peaks, and further reduction of false peaks by application of a neighbourhood criteria. Sample results are shown.
Authors and Affiliations
Gideon Kanji Damaryam
Keywords
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