A Preprocessing Scheme for Line Detection with the Hough Transform for Mobile Robot Self-Navigation
Journal Title: IOSR Journals (IOSR Journal of Computer Engineering) - Year 2016, Vol 18, Issue 1
Abstract
Abstract: This paper presents the pre-processing scheme used for a vision system for a self-navigating mobile robot which relies on straight line detection using the Straight Line Hough transform. The straight line Hough transform is an Image Processing technique for detection of straight lines in an image by transforming points in the image to another image in a way that accumulates evidence that the points from the original image are constituents of a straight line type feature from the original image. The pre-processing presented includes image re-sizing, conversion to gray scale, edge detection using the Sobel edge-detection filters, and edge thinning with a newly developed method that is a slight modification of an existing method. The newly developed method has been found to yield thinned images more suitable for later stages of this work than other thinning methods. Output from the pre-processing scheme presented is used as input for the remainder of the vision-based selfnavigation system.
Authors and Affiliations
Gideon Kanji Damaryam , Haruna Abdu
Keywords
Related Articles
- EP ID EP106672
- DOI -
- Views 106
- Downloads 0
Classification and Quality Analysis of Food Grains
Abstract: In the present grain-handling scenario, grain type and quality are identified manually by visual inspection which is tedious and not accurate. There is need for the growth of fast, accurate and objective...
A study on Clustering Algorithms for XML Data Clustering
Abstract: Nowadays mining meaningful information from large scale web documents is more important to satisfy the user demand. XML and RDF documents are supporting the semantic information retrieval to interpret and extra...
Real-Time Link-Reliability Routing for QoS in Wireless Sensor Networks
This paper proposes a Real-Time Link Reliability Routing protocol for wireless sensor networks (WSNs). The protocol achieves to reduce packet deadline miss ratio while considering link reliability, two-hop veloci...
Load Balancing In Public Cloud
In present days cloud computing is one of the greatestplatform which provides storage of data in very lowercost and available for all time over the internet.But ithas more critical issue like security, load man...
A Self-Organizing Cooperation for Autonomous Agents Based onImmune Network
Abstract: In order to solve the cooperation of autonomous agent systems，an artificial immune networkcooperation algorithm is proposed，which is based on Jerne’s idiotypic immune network hypothesis. A sheepdogherdi...