On Navigating Between Friends and Foes

N. Kiryati; A. M. Bruckstein

doi:10.1109/34.87346

On Navigating Between Friends and Foes

N. Kiryati, A. M. Bruckstein

Technion-Israel Institute of Technology

Research output: Contribution to journal › Article › peer-review

23 Scopus citations

Abstract

A problem of determining the optimal straight path between a planar set of points is considered. Each point contributes to the cost of a path a value that depends on the distance between the path and the point, The cost function, quantifying this dependence, can be arbitrary and may be different for different points. An algorithm to solve this problem, via an extension of the Hough transform, is described. The range of applications includes straight-line fitting to a set of points in the presence of outliers, navigation, and path planning. The suggested extended Hough transform can be tuned to be equivalent to well-known robust least squares techniques, and allows, in particular, to efficiently carry out approximate M-estimation.

Original language	English
Pages (from-to)	602-606
Number of pages	5
Journal	IEEE Transactions on Pattern Analysis and Machine Intelligence
Volume	13
Issue number	6
DOIs	https://doi.org/10.1109/34.87346
State	Published - Jun 1991
Externally published	Yes

Keywords

Hough transform
line fitting. M-estimators. oath plan
ning
robust least squares techniques

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On Navigating Between Friends and Foes

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Keywords

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