Hough Transform Run Length Encoding for Real-Time Image Processing

This paper introduces a real-time image processing algorithm based on run length encoding (RLE) for a vision based intelligent controller of a humanoid robot system. The RLE algorithms identify objects in the image providing their size and position. A RLE Hough transform is also presented for recognition of landmarks in the image to aid robot localization. The vision system presented has been tested by simulating the dynamics of the robot system as well as the image processing subsystem. The real-time image processing and control algorithms allow the unstable dynamic model of the biped robot to be controlled