A Swift and Memory Efficient Hough Transform for Systems with Limited Fast Memory
This paper focuses on implementation of a speedy Hough Transform (HT) which considers the memory constraints of the system. Because of high memory demand, small systems (DSPs, tiny robots) cannot realize efficient implementation of HT. Keeping this scenario in mind, the paper discusses an effective and memory-efficient method of employing the HT for extraction of line features from a gray scale image. We demonstrate the use of a circular buffer for extraction of image edge pixels and store the edge image in a manner that is different from the conventional way. Approximation of the two dimensional Hough Space by a one dimensional array is also discussed. The experimental results reveal that the proposed algorithm produces better results, on small and large systems, at a rapid pace and is economical in terms of memory usage.
KeywordsMobile Robot Line Feature Gray Scale Image Synthetic Image Edge Image
Unable to display preview. Download preview PDF.
- 1.Novak, G., Mahlknecht, S.: TINYPHOON a tiny autonomous mobile robot. In: Proceedings of the IEEE International Symposium on Industrial Electronics, pp. 1533–1538 (June 2005)Google Scholar
- 2.Dao, N., You, B.J., Oh, S.R., Hwangbo, M.: Visual self-localization for indoor mobile robots using natural lines. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2003, vol. 2, pp. 1252–1257 (2003)Google Scholar
- 10.Pan, Li, Hamdi: An improved constant-time algorithm for computing the radon and hough transforms on a reconfigurable mesh. IEEETSMC: IEEE Transactions on Systems, Man, and Cybernetics 29 (1999)Google Scholar
- 11.Bais, A., Khan, M.U.K., Yahya, K.M., Sablatnig, R., Hassan, G.M.: Memory efficient vision based line feature extraction for tiny mobile robots. In: Proceedings of International Conference on Image Analysis and Recognition (ICIAR), July 2009 (to appear)Google Scholar
- 14.Analog Devices: ADSP-BF537 Blackfin Processor Hardware Reference, Preliminary Revision 1.1 (January 2005)Google Scholar
- 15.Singleton, R.: A method for computing the fast fourier transform with auxiliary memory and limited high speed storage. IEEE Transaction on Audio and Electroacoustics (15), 91–98 (1967)Google Scholar