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Object relative position estimation based on Hough transform using one camera

Peter Pásztó, Marian Kľúčik, Ľuboš Chovan, Michal Tölgyessy, Jaroslav Hanzel, Khanh Duong Quang, Peter Hubinský


This paper describes a circular object relative position estimation method using one camera and the only input to this method is the knowledge of the radius of this object. There is no need of knowledge of any parameter of the used camera. The circular object is recognized with an image processing algorithm based on Hough transform. The data obtained with Hough transform are used in the process of object’s position estimation. The accuracy of this method was verified.


computer vision, Hough transform, circle detection, position estimation, OpenCV, laser scanner

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