An Effective Randomized Hough Transform Method to Extract Ground Plane from Kinect Point Cloud

Author(s):  
Hoa Dang Khanh ◽  
Van Son Nguyen ◽  
Anh Do ◽  
Nguyen Tien Dzung
2012 ◽  
Vol 189 ◽  
pp. 383-387
Author(s):  
Kun Liu ◽  
Shu Min Fei ◽  
Mu Lan Wang

The cotton recognition would become rather difficult during the application of the cotton harvesting robot (CHR) in the case where the cotton is sheltered or covered by other objects. In this paper, a novel approach of cotton detection based on the improved randomized Hough transform (IRHT) for this case is proposed. Based on the contour information from the boundary trace, the mathematic model-based IRHT is derived based on a modified circular detection technique. It yields a well agreement with the requirements of the precision and rating of CHR.


Healthcare ◽  
2021 ◽  
Vol 9 (7) ◽  
pp. 885
Author(s):  
Yoanda Alim Syahbana ◽  
Yokota Yasunari ◽  
Morita Hiroyuki ◽  
Aoki Mitsuhiro ◽  
Suzuki Kanade ◽  
...  

The detection of nystagmus using video oculography experiences accuracy problems when patients who complain of dizziness have difficulty in fully opening their eyes. Pupil detection and tracking in this condition affect the accuracy of the nystagmus waveform. In this research, we design a pupil detection method using a pattern matching approach that approximates the pupil using a Mexican hat-type ellipse pattern, in order to deal with the aforementioned problem. We evaluate the performance of the proposed method, in comparison with that of a conventional Hough transform method, for eye movement videos retrieved from Gifu University Hospital. The performance results show that the proposed method can detect and track the pupil position, even when only 20% of the pupil is visible. In comparison, the conventional Hough transform only indicates good performance when 90% of the pupil is visible. We also evaluate the proposed method using the Labelled Pupil in the Wild (LPW) data set. The results show that the proposed method has an accuracy of 1.47, as evaluated using the Mean Square Error (MSE), which is much lower than that of the conventional Hough transform method, with an MSE of 9.53. We conduct expert validation by consulting three medical specialists regarding the nystagmus waveform. The medical specialists agreed that the waveform can be evaluated clinically, without contradicting their diagnoses.


2014 ◽  
Vol 519-520 ◽  
pp. 1040-1045
Author(s):  
Ling Fan

This paper makes some improvements on Roberts representation for straight line in space and proposes a coarse-to-fine three-dimensional (3D) Randomized Hough Transform (RHT) for the detection of dim targets. Using range, bearing and elevation information of the received echoes, 3D RHT can detect constant velocity target in space. In addition, this paper applies a coarse-to-fine strategy to the 3D RHT, which aims to solve both the computational and memory complexity problems. The validity of the coarse-to-fine 3D RHT is verified by simulations. In comparison with the 2D case, which only uses the range-bearing information, the coarse-to-fine 3D RHT has a better practical value in dim target detection.


2014 ◽  
Vol 25 (1) ◽  
pp. 86-97 ◽  
Author(s):  
Rostislav Hulik ◽  
Michal Spanel ◽  
Pavel Smrz ◽  
Zdenek Materna

Author(s):  
T. Fiolka ◽  
F. Rouatbi ◽  
D. Bender

3D terrain models are an important instrument in areas like geology, agriculture and reconnaissance. Using an automated UAS with a line-based LiDAR can create terrain models fast and easily even from large areas. But the resulting point cloud may contain holes and therefore be incomplete. This might happen due to occlusions, a missed flight route due to wind or simply as a result of changes in the ground height which would alter the swath of the LiDAR system. This paper proposes a method to detect holes in 3D point clouds generated during the flight and adjust the course in order to close them. First, a grid-based search for holes in the horizontal ground plane is performed. Then a check for vertical holes mainly created by buildings walls is done. Due to occlusions and steep LiDAR angles, closing the vertical gaps may be difficult or even impossible. Therefore, the current approach deals with holes in the ground plane and only marks the vertical holes in such a way that the operator can decide on further actions regarding them. The aim is to efficiently create point clouds which can be used for the generation of complete 3D terrain models.


2021 ◽  
Author(s):  
Shynimol E. Thayilchira

In this project, an analysis of the faster detection of shapes using Randomized Hough Transform (RHT) was investigated. Since reduced computational complexity and time efficiency are the major concerns for complex image analysis, the focus of the research was to investigate RHT for these specific tasks. Also, a detailed analysis of probability theory associated with RHT theory was investigated as well. Thus effectiveness of RHT was proven mathematically in this project. In this project, RHT technique combined with Generalized Hough Transform (GHT) using Newton's curve fitting technique was proposed for faster detection of shapes in the Hough Domain. Finally, the image under question was enhanced using Minimum Cross-Entropy Optimization to further enhance the image and then RGHT process was carried out. This helped the RGHT process to obtain the required time efficiency.


2012 ◽  
Vol 152-154 ◽  
pp. 1840-1845
Author(s):  
Dao Hua Lu ◽  
Song Lian Xie ◽  
Jia Wang

To achieve the target features quick extraction, this paper uses a contour extraction method based on contour mark and outline of rotating scan target filling. It mainly introduces the principle and algorithm of Rand-omized Hough Transform method and rotating scanning method, uses a workpiece as an example to illustrate it with experiment.


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