Robust line detection using a weighted MSE estimator

In this paper we introduce a novel line detection algorithm based on a weighted minimum mean square error (MSE) formulation. This algorithm has been developed to enable an autonomous robot to follow a white line drawn on the floor, hut is general in nature and widely applicable to line detection problems. Traditional approaches to line detections consist oftwo stages, an edge detection stage and a line detection stage using the edge detection result. There are several problems with this approach. First. the initial edge detection stage is sensitive to noise. Second, the second stage does not use all the information available in the image and therefore incorrect decisions made by the first stage cannot he corrected in the second stage. The proposed algorithm achieves its robustness by operating in one step, using all pixels of the image (correctly weighted) and not using any thresholds. The detected line is the solution of a weighted MSE problem. The follow-ing h e questions are answer...

• Type: Conference
• Year: 2003
• Where: ICIP
• Authors: Guido M. Schuster, Aggelos K. Katsaggelos
• Keywords: Edge Detection Stage, ICIP 2003, Image Processing, Line Detection Algorithm, Line Detection Stage, Robust Line Detection, Weighted Mse Problem