Memory Efficient Vision Based Line Feature Extraction for Tiny Mobile Robots

  • Abdul Bais
  • Muhammad U. K. Khan
  • Khawaja M. Yahya
  • Robert Sablatnig
  • Ghulam M. Hassan
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5627)


This paper presents implementation of a memory efficient all integer line feature extraction algorithm for tiny autonomous mobile robot with limited on-chip memory. A circular buffer is used to bring image data from off chip to the on chip memory of the DSP for detecting edges. Afterwards a gradient based Hough transform is used to group collinear pixels which are processed to detect end points and length of the line segments. Approximation of the two dimensional Hough parameter space using a one dimensional array is discussed. Experimental results illustrate the performance of these features extraction on real and synthetic images.


Line Segment Mobile Robot Peak Detection Digital Signal Processor Synthetic Image 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Abdul Bais
    • 1
  • Muhammad U. K. Khan
    • 2
  • Khawaja M. Yahya
    • 2
  • Robert Sablatnig
    • 3
  • Ghulam M. Hassan
    • 2
  1. 1.Sarhad University of Science and Information TechnologyPeshawarPakistan
  2. 2.NWFP University of Engineering and TechnologyPeshawarPakistan
  3. 3.Vienna University of TechnologyAustria

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