We extend the velocity Hough transform (VHT) for tracking objects with arbitrary velocity by ®nding an optimal, smooth trajectory that maximises its associated energy. Optimisation is achieved by temporal dynamic programming (DP). Tracking in noise is much superior to the standard Hough transform (SHT).

This paper describes a new robust and fully automatic method for calibration of three-dimensional (3D) freehand ultrasound. 3D Freehand ultrasound consists in mounting a position sensor on a standard probe. The echographic B-scans can be localized in 3D, and can be compounded into a volume. However, especially for quantitative use, this process dramatically requires a calibration procedure that...

Airborne laser altimetry has become a very popular technique for the acquisition of digital elevation models. The high point density that can be achieved with this technique enables applications of laser data for many other purposes. This paper deals with the construction of 3D models of the urban environment. A three-dimensional version of the well-known Hough transform is used for the extract...

Most of mobile robots basic functions are highly dependent on a model of their environment. Proper modeling is crucial for tasks such as local navigation, localization or route planning. This paper describes a novel solution for building models of indoor environments. We use a 3D Laser on a mobile robot to scan the surroundings and obtain sensing information. While the robot explores the enviro...

The Hough voting framework is a popular approach to parts based pedestrian detection. It works by allowing image features to vote for the positions and scales of pedestrians within a test image. Each vote is cast independently from other votes, which allows for strong occlusion robustness. However this approach can produce false pedestrian detections by accumulating votes inconsistent with each...

To cope with the growing demand for transportation on railway system, accurate, robust, and high-frequency positioning is required to enable a safe efficient utilization of existing infrastructure. As basis localization system we propose complete on-board mapping pipeline able map robust meaningful landmarks, such as poles from power lines, in vicinity vehicle. Such are good candidates reliable...

When using the original slope-intercept parameter-isation for the Hough transform, the resulting parameter space actually corresponds to the dual space. Indeed , lines are transformed into points, and for every point there is also a corresponding line. This paper presents a way of exploiting this special property, by the introduction of the Cascaded Hough Transform, or CHT for short. This allow...

A method to extend the Hough transform (HT) to detect connectivity by ordered accumulation is reported. The method is applied to the dynamic combinatorial HT [6]. A focus of attention mechanism is also reported. Our connective HT with focus of attention reduces the computational complexity of the DCHT and increases the S/N ratio of the peak in its accumulator. It may be regarded as a principled...

In this paper, we propose a method for obtaining a textured billboards representation of a static scene, given a sequence of calibrated video images. Each billboard is a textured and partially transparent plane into which the input images are mapped using perspective projection. Binning using Hough transform is used to find the position of the billboards, and optic flow measures are used to det...

This paper presents the idea of a batch form of the Hough transform, the Compact Hough Transform (CHT), which aims at detecting locations with high probability of belonging to a shape of an approximate size. The CHT is used in a problem of segmentation of cell nuclei, where the nuclear boundary is detected using a method based on maximum likelihood.