Lines extraction in laser scans through the integration of the Hough transform and SEF

This article presents a method of straight lines extraction, based principally in an algorithm of robust line extraction named Hough transform, for the parameterization of straight lines that are found in the set of points obtained by a 2D laser scan, then the parameters of the straight lines (obtained by the Hough transform) and the original points are processed by a SEF algorithm (Successive Edge Following) in order to obtain the coordinates of the extreme points of the lines described in environment and if necessary, fractionate them in shorter lines.