A Study on Optimal Design of Hough Transform Algorithm for Real Time Vision

我们推动了我们的研究，实现了一种实时提取线段组合图形模式的机制。我们使用Hough变换作为基本的特征提取方法。我们从直线提取的处理代价、复合图形模式与其特征的关系、实时处理、对图像序列的适用性等方面进行了考察和评估，并阐明了以下结果：为了实现实时处理，我们通过不对整幅图像而是对部分图像应用Hough变换并结合各自的结果来降低计算量。从空间分割次数与线段分辨率和计算量的关系出发，构造了一种最优的Hough变换参数设置方法。从特征提取机制可拓展性的角度出发，对特征提取算法进行了改进，使之更具实用性。作为线段提取的一种元机制，我们引入了模拟人类视觉的中心-精细/周边-粗略模型来搜索感兴趣的点或区域，并实现了全局特征提取机制。在此基础上，研究了数字线段的描述问题，提出了一种新的链码描述方法和算法。为了验证所提出的方法和算法的有效性和对实时视觉的适用性，我们将这些算法实现在一个自主足球比赛机器人系统中并进行了实验，并在真实和实用的条件下进行了评估。

We promoted our research to realize a real time mechanism to extract figure patterns compounded of line segments. We utilized the Hough transform as the basic feature extraction method. We examined and evaluated from the view points of the processing cost for straight line extraction, the relation between a compound figure pattern and its feature, real time processing, applicability to the image sequences, and we clarified the following results.In order to realize real time processing, we reduced the computation cost by applying the Hough transform not to the whole image but to the partial image and by combining the respective results. We constructed an optimal procedure for the setting of Hough transform parameters from the view point of the relation between the number of space division and the resolution of line segment and the computation cost. From the view point of the extension of the feature extraction mechanism, we improved the feature extraction algorithms for the practical use. As a meta-mechanism of line segment extraction, we introduced the center-fine/peripheral-coarse model which simulates the human vision to search the interesting point or area, and realized the global feature extraction mechanism. Furthermore, we investigated the description of digital line segment, and proposed a new representation method and an algorithm using chain code description. To confirm the effectivity and the applicability of the proposed methods and algorithms to real time vision, we implemented these algorithms to an autonomous robot system for soccer game and experimented, and evaluated under a real and practical condition.