Week3 : Hough Line Detector

In the ROI_filtered from the previous tutorial, we can clearly see four lines. In order to Duckiebot to navigate within these lanes, we need to find the exact coordinates of these lines. OpenCV contains a function, called Hough Transform, which does exactly this. Hough Transform is a technique used in image processing to extract features like lines, circles, and ellipses. We will use it to find straight lines from a bunch of pixels that seem to form a line. The function HoughLinesP essentially tries to fit many lines through all the white pixels and return the most likely set of lines, subject to certain minimum threshold constraints.

More information of openCV Hough Trasnform can be found here . Hough Transform