The Mahalanobis distance Hough transform with extended Kalman filter refinement
This paper presents a new Hough function based on a Mahalanobis distance measure that incorporates a formal stochastic model for measurement and model noise. Thus, the effects of image and parameter space quantisation can be incorporated directly. An extended Kalman filtering process is proposed combined with this flexible model for feature refinement, which is particularly applicable when using coarse parameter resolutions. For a given resolution, the method provides better performance than the SHT.<<ETX>>