Masters Thesis: Analysis, Design and Implementation of Hough Transform for Vision Based Self-Localization of Tiny Autonomous Robots

The objective of this report is to explore the algorithmic and architectural optimization of the Hough Transform. The design of proposed Hough Transform algorithm will particularly suit small and mobile systems like tiny robots. Comparisons with ordinary point to point Hough Transform will be made and it will be shown that the proposed method produces accurate and faster results where memory constraints and time consumption will be the prime performance benchmarks. To establish these facts, both the algorithms will be implemented on a fixed point DSP for detecting lines attributes in an image. At the end of the report, a parallelization of the proposed scheme will be discussed. The parallel Hough Algorithm will be realized on a multicore processer and it will be shown that the proposed parallel Hough Algorithm is suitable for implementation on a Field Programmable Gate Array. To The One Who Wants to Learn