[1] R. Strzodka, I. Ihrke, and M. Magnor. A graphics hardware implementation of the generalized hough transform for fast object recognition, scale, and 3d pose detection. In International Conference on Image Analysis and Processing (ICIAP 2003), pages 188-193, 2003.
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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.