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A robust line extraction and matching algorithmThis paper presents an algorithm for extracting straight lines from intensity mages and describes a line matching algorithm for solving the line correspondence problem. The line extraction process begins by detecting edges in the intensity image. Next, line support regions are formed where image points (pixels) have similar gradient orientation. A line fitting algorithm is then used to fit a line to the points in the line support region based on a least means square fitting algorithm. Finally, line segments are linked together to form the final lines by using an adaptive line linking method; this results in much stronger lines and a smaller set of lines to be considered. Once the lines are detected in a sequence of images, a line matching algorithm is used to match lines in one image to the lines in the other image. The images are either from a motion or stereo sequence. The matched lines may then be used with the sensor position and orientation data to estimate range to objects corresponding to the lines. We present results based on applying the line extraction and line matching algorithms to a synthetic image and an outdoor scene captured by a camera on a helicopter.
Document ID
19940035670
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hussien, B.
(Integrated Systems, Inc. Santa Clara, CA, United States)
Sridhar, B.
(NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1993
Publication Information
Publication: In: Intelligent robots and computer vision XII: Algorithms and techniques; Proceedings of the Meeting, Boston, MA, Sept. 7-9, 1993 (A94-12322 02-63)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Cybernetics
Accession Number
94A12325
Distribution Limits
Public
Copyright
Other

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