Hough Transform Run Length Encoding for Real-Time Image Processing

This paper introduces a real-time image processing algorithm based on run length encoding (RLE) for a vision-based intelligent controller of a Humanoid Robot system. The RLE algorithms identify objects in the image, providing their size and position. The RLE Hough transform is also presented for recognition of landmarks in the image to aid robot localization. The vision system presented has been tested by simulating the dynamics of the robot system as well as the image processing subsystem

[1]  Joel E. Chestnutt,et al.  A tiered planning strategy for biped navigation , 2004, 4th IEEE/RAS International Conference on Humanoid Robots, 2004..

[2]  Bruce A. MacDonald,et al.  Theoretical Considerations of Multiple Particle Filters for Simultaneous Localisation and Map-Building , 2004, KES.

[3]  Adrian E. Raftery,et al.  Accurate and efficient curve detection in images: the importance sampling Hough transform , 2002, Pattern Recognit..

[4]  J. Chestnutt,et al.  Planning Biped Navigation Strategies in Complex Environments , 2003 .

[5]  Gourab Sen Gupta,et al.  Real-time identification and predictive control of fast mobile robots using global vision sensing , 2005, IEEE Transactions on Instrumentation and Measurement.

[6]  J. Denk,et al.  Experiments in vision-guided biped walking , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Gourab Sen Gupta,et al.  Size/position identification in real-time image processing using run length encoding , 2002, IMTC/2002. Proceedings of the 19th IEEE Instrumentation and Measurement Technology Conference (IEEE Cat. No.00CH37276).

[8]  Masaki Ogino,et al.  Vision-based reinforcement learning for humanoid behavior generation with rhythmic walking parameters , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[9]  Donald G. Bailey,et al.  A New Colour Space for Efficient and Robust Segmentation , 2005 .

[10]  Christopher H. Messom.  Vision Controlled Humanoid Robot Tool-Kit , 2004, KES.

[11]  Thomas Bräunl,et al.  Evolving Autonomous Biped Control from Simulation to Reality , 2004 .

[12]  Changjiu Zhou,et al.  Dynamic balance of a biped robot using fuzzy reinforcement learning agents , 2003, Fuzzy Sets Syst..