19082Re: Hough transforms
- Aug 1, 2004Gary,
You reminded me of graphics programs and why I buy them... so I don't
have to do the math myself.
And of course, looking at this site reminded me again why I don't do
the math... but gee whiz, ya gotta like the little Java applet they
put together to illustrate their point (or curve, as it were).
--- In SeattleRobotics@yahoogroups.com, Gary Livick <glivick@s...> wrote:
> I generally get over my head about once a week. Perhaps someone has
> some information that will get my project going forward.
> The basic project: Between Kent Farnsworth and myself, we have an
> RF-linked Hero 2000 setup that allows controlling the robot via a
> host computer, using the robot itself running in its native BASIC from
> the command line as a slave. We use C as the programming language on
> the host. All the library programs have been written for mechanical
> control of the robot's functions, such as motion, sonar scanning, etc.
> The expanded project, phase 1: We have ported the "Grid Nav 1.0"
> grid-based planner, written by Tucker Balch, in its totality. This
> planner allows the Hero to navigate from point A to point B, self
> planning its route around obstacles. We utilize the robot's own PID
> system and odometry capabilities. It operates very effectively.
> The expanded project, phase 2: Using work by Hans Moravec, as explained
> very effectively by Prof. Crabbe at the US Naval Acadamy
> we have implemented an certainty grid, utilizing a Baysian conditional
> probablily approach, built up from sonar date. We display the results
> on the host screen, and see that we get an excellent representation of
> the local areas around the robot.
> The expanded project, phase 3: This is the over-the-head part. In
> to make use of the certainty grid for simultaneous localization and
> mapping, we think it will be most expedient to utilize a Hough
> approach to both create the global map of the robot's world, and for
> in later self-localization of the robot within it. That's where I'm
> What is needed is a Schaum's Outline-like straight explanation of the
> Hough transform for generating straight and simple curved lines from an
> occupancy grid (actually converted to an occupancy grid for this
> purpose, which will then represent a coarse bitmap of the environment),
> along with simple example applications written in C, or at least pseudo
> The work I'm seeing which uses the above approach tends to use
> We want to do it all self-contained in our own code.
> Anyone have any pointers to something like this. Anyone doing
> Gary Livick
> [Non-text portions of this message have been removed]
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