APPLICATIONS OF THE SPARSE HOUGH TRANSFORM FOR LASER DATA LINE FITTING AND SEGMENTATION

Z. Song, Y.Q. Chen, K.L. Moore, and L. Ma

Keywords

Hough transform, sparse Hough transform, LogHough transform,mobile robot

Abstract

This paper proposes a novel algorithm called the sparse Hough transform, which is shown to have better performance than the standard Hough transform for sparse input data collected from a laser on a mobile robot. In the context of laser sensing and perception for autonomous ground robots, this paper studies performance of the sparse Hough transform and compares it with other segmentation and fitting algorithms. Pseudo-code for the algorithm, theoretical analysis, computer simulations, hardware experiments, and experimental analysis of the sparse Hough transform are presented.

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