Hough-transfonn detection of lines in 3-D space

Detecting straight lines in 3-D space using a Hough transform approach invo lves a 4-D parameter space, which is cumbersome. In this paper, we show how to detect families of parallel lines in 3-D space at a moderate computatio nal cost by using a (2 + 2)-D Hough space. We first find peaks in the 2-D s lope parameter space; for each of these peaks, we then find peaks in the in tercept parameter space. Our experimental results on range images of boxes and blocks indicate that the method works quite well. (C) 2000 Elsevier Sci ence B.V. All rights reserved.