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A Fast Line Finder for Vision-Guided Robot Navigation
November 1990 (vol. 12 no. 11)
pp. 1098-1102

There are two basic ways to improve the speed of a low-level vision algorithm: careful code optimization and selective processing. Reducing the computational effort expended on each pixel reduces the time required to process an image by a constant factor. Selective processing on a limited portion of an image using a focus of attention can decrease overall computation by orders of magnitude. A fast pixel-based algorithm is developed that uses these principles to achieve fast extraction of lines for use in vision-guided mobile robot navigation. It builds upon an algorithm for extracting lines by grouping pixels with similar gradient orientation. It allows parametric control of computational resources required to extract lines with particular characteristics.

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Index Terms:
line extraction; pixel grouping; line finder; low-level vision algorithm; code optimization; selective processing; computational effort; fast pixel-based algorithm; vision-guided mobile robot navigation; gradient orientation; parametric control; computerised navigation; computerised pattern recognition; computerised picture processing; mobile robots
Citation:
P. Kahn, L. Kitchen, E.M. Riseman, "A Fast Line Finder for Vision-Guided Robot Navigation," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 12, no. 11, pp. 1098-1102, Nov. 1990, doi:10.1109/34.61710
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