#include <gandalf/vision/fast_hough_transform.h>A Hough transform is a mapping from an

In the normal Hough transform approach, parameter space is bounded by setting lower and upper limits on the parameter values, and then divided into blocks in each direction, and an accumulator assigned to each block. The Hough transform proceeds with each point in image space being transformed to an region in parameter space as described in the previous paragraph. When the region intersects one of the blocks, the corresponding accumulator is incremented. The block whose accumulator has the most votes can then be taken as the best fit of the structure to the image points, the values of the parameters usually being calculated at the centre of the block.

- The Fast Hough Transform (FHT)

- Example: Plane Fitting
- Calculating the Intersection of a Plane and a Sphere
- Calculating the Plane Parameters of a Child Cube
- Formal Statement of the FHT Plane Fitting Algorithm

- Speed Improvement to FHT Line Finder