Workstation Recognition Using a Constrained Edge Based Hough Transform for Mobile Robot Navigation

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Vaughn, David L.
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http://hdl.handle.net/1853/22453
Abstract
Landmark recognition is a task required of many robotic systems. In this work, we examine the use of a constrained Hough transform used by a mobile robot to locate a docking workstation. This algorithm deals with the uncertainty inherent in a mobile robot by making use of a spatial uncertainty map maintained by the robot. Several iterations of the Hough transform are run with transformed models of the dock. Votes are accumulated in a collapsed Hough space which, although unable to recover range and orientation information, simplifies locating the dock within the image.
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1989
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