Occlusion analysis for object detection using the generalised Hough transform

Abstract This paper examines the use of the generalised Hough transform for object detection and finds it to be highly resistant to the effects of occlusions for curved shapes. When objects possess straight edges the situation regarding occlusions is only optimal if a particular line parameterisation scheme is employed. In that case object localisation remains accurate so long as the ends of straight edges are visible. The results presented here are also relevant when parts of objects are broken off rather than occluded.