The generalized Hough transform constitutes a well-known approach to object recognition and pose detection. To attain reliable detection results, however, a very large number of candidate object poses and scale factors need to be considered. In this paper we employ an inexpensive, consumer-market graphics card as the ``poor man's'' parallel processing system. We describe the implementation of a fast and enhanced version of the generalized Hough transform on graphics hardware. Thanks to the high bandwidth of on-board texture memory, a single pose can be evaluated in less than 3~ms, independent of the number of edge pixels in the image. From known object geometry, our hardware-accelerated generalized Hough transform algorithm is capable of detecting an object's 3D pose, scale, and position in the image within less than one minute. A good pose estimation is delivered in even less than 10 seconds.
@InProceedings{StIhMa03GHT,
author = {Robert Strzodka and Ivo Ihrke and Marcus Magnor},
title = {A Graphics Hardware Implementation of the {Generalized Hough Transform} for fast Object Recognition, Scale, and 3D Pose Detection},
year = {2003},
pages = {188--193},
booktitle = {Proceedings of IEEE International Conference on Image Analysis and Processing (ICIAP'03)},
}