A data structure for the 3D hough transform for plane detection


The Hough Transform is a well-known method for detecting parametrized objects. It is the de facto standard for the detection of lines and circles in 2-dimensional data sets. For 3D it has attained little attention so far. Apart from computational costs, the main problem is the representation of the accumulator: Usual implementations favor geometrical objects with certain parameters due to uneven sampling of the parameter space. In this paper we present a novel approach to design the accumulator focusing on achieving the same size for each cell. The proposed accumulator is compared to previously known designs.

IFAC Proceedings Volumes Volume 43, Issue 16, 2010, Pages 49-54