A New Fast Multi-Layer Line Detection For Embedded Robotic Application

This paper presents a new multi-layer line detection algorithm that can be used for embedded robotic applications. First, contour points are detected along equally spaced columns or rows. Points are stored into a multi-layer array. Then the line detection algorithm is run layer by layer. It is based on Wall and Danielson algorithm. Experiments have been carried out on real images taken from a robot´s built-in camera. The line detection rate and accuracy are evaluated. This new algorithm features several parameters that can be adjusted for various embedded applications