Hough Transform with Kalman Filter on GPU for Real-Time Line Tracking

Abstract

This paper introduces an algorithm for real-time line tracking utilizing the GPUs (Graphic Processing Units). The main techniques for line tracking are Hough transform and Kalman filter. Hough transform is easy to implement and robust for noise, on the other hand, the resource consumption raises exponentially as the resolution of input image increases. One of the efficient ways to overcome this problem is to perform image processing with GPU's computational capabilities. Performance evaluations show promising results with acceptable trade-off between speed and accuracy of algorithm.