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Published in:
2013 | OriginalPaper | Chapter
Implementing a Real-Time Hough Transform on a Mobile Robot
Authors : John Morrison, Eric Chown, Bill Silver
Published in: RoboCup 2012: Robot Soccer World Cup XVI
Publisher: Springer Berlin Heidelberg
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Robotic vision is a challenging problem due both to the uncertain nature of real-world environments and the computational constraints of mobile platforms. Many standard computer vision algorithms have high computational requirements and are often seen as unsuitable for use in an embedded system such as the Aldebaran Nao. Many current approaches use fragile algorithms and reduced resolutions to achieve a low processing latency. We implement the Hough Transform, a standard line detection algorithm, for real-time use in the RoboCup Standard Platform League. Using assembly language instructions to expose the processor’s full potential, this project implements a real-time Hough transform for line detection on 320x240 pixel images.