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4.0 conclusions

As far as the Hough Transform goes, our findings were as follows:

  • The success of the algorithm depends on edge magnitude threshold, Hough transform threshold, and radius parameters. and image noise. Changing thresholds results in tradeoffs between false positives and false negatives.
  • For images with single balls, the algorithm can detect the ball with 95.6 % accuracy. Of the wrongly detected images, 66.7% had high amounts of motion blur.
  • The algorithm can also detect balls partially cut out of the image as long as more than 60% of the ball is within the image.
  • In images where multiple balls are close or overlapping, the algorithm may mistake the two balls as a single object or miss one of the balls.

The video linked in the Additional Resources section also demonstrates our Hough transform implementation in action.

4.1 future steps

The next primary addition to our robot is object permanence, giving it the capability to remember balls that have moved out of its field of view and rotate itself to find them again. Other future goals include recognizing when an obstacle is in front of the ball, fine-tuning the PID control in order to speed up the angling and approach to a ball, and being able to prioritize different balls based on properties like color.

4.2 additional resources

A video of our robot in action can be found here on Youtube.

Our poster presentation can be downloaded from this link .

Python code for the Hough transform can be found here .

The custom library used by the robot can be found here .

4.3 references

  • M.K. Vairalkar and S.U. Nimbhorkar. Edge detection of images using Sobel operator. International Journal of Emerging Technology and Advanced Engineering, 2(1):291–293,2012.
  • R.O. Duda and P.E. Hart. Use of the Hough transform to detect lines and curves in pictures. Community Assoc. comput. Mach. 15 (1975), pp. 11-15.

Questions & Answers

I only see partial conversation and what's the question here!
Crow Reply
what about nanotechnology for water purification
RAW Reply
please someone correct me if I'm wrong but I think one can use nanoparticles, specially silver nanoparticles for water treatment.
what is the stm
Brian Reply
is there industrial application of fullrenes. What is the method to prepare fullrene on large scale.?
industrial application...? mmm I think on the medical side as drug carrier, but you should go deeper on your research, I may be wrong
How we are making nano material?
what is a peer
What is meant by 'nano scale'?
What is STMs full form?
scanning tunneling microscope
how nano science is used for hydrophobicity
Do u think that Graphene and Fullrene fiber can be used to make Air Plane body structure the lightest and strongest. Rafiq
what is differents between GO and RGO?
what is simplest way to understand the applications of nano robots used to detect the cancer affected cell of human body.? How this robot is carried to required site of body cell.? what will be the carrier material and how can be detected that correct delivery of drug is done Rafiq
what is Nano technology ?
Bob Reply
write examples of Nano molecule?
The nanotechnology is as new science, to scale nanometric
nanotechnology is the study, desing, synthesis, manipulation and application of materials and functional systems through control of matter at nanoscale
Is there any normative that regulates the use of silver nanoparticles?
Damian Reply
what king of growth are you checking .?
What fields keep nano created devices from performing or assimulating ? Magnetic fields ? Are do they assimilate ?
Stoney Reply
why we need to study biomolecules, molecular biology in nanotechnology?
Adin Reply
yes I'm doing my masters in nanotechnology, we are being studying all these domains as well..
what school?
biomolecules are e building blocks of every organics and inorganic materials.
anyone know any internet site where one can find nanotechnology papers?
Damian Reply
sciencedirect big data base
Introduction about quantum dots in nanotechnology
Praveena Reply
what does nano mean?
Anassong Reply
nano basically means 10^(-9). nanometer is a unit to measure length.
do you think it's worthwhile in the long term to study the effects and possibilities of nanotechnology on viral treatment?
Damian Reply
absolutely yes
how to know photocatalytic properties of tio2 nanoparticles...what to do now
Akash Reply
it is a goid question and i want to know the answer as well
characteristics of micro business
for teaching engĺish at school how nano technology help us
How can I make nanorobot?
how did you get the value of 2000N.What calculations are needed to arrive at it
Smarajit Reply
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Source:  OpenStax, Hough transform object detection. OpenStax CNX. Dec 16, 2015 Download for free at http://legacy.cnx.org/content/col11937/1.1
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