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
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