Abstract

A method to extract straight segments from gray-level images is presented, which is based on a novel approach to adaptive thresholding of local discontinuities. In particular, the method takes advantage from modeling the statistics of the low-intensity edges generated by acquisition noise. Though very simple, the algorithm is general enough to successfully cope with images taken in a wide range of lighting conditions, contrast and noise; fast and accurate, it is therefore very well suited to support vision-based modules for autonomous indoor navigation. Examples from this application field are reported which may better emphasize the qualities of the method as compared to others based on different thresholding techniques.

Citations