概率霍夫变换（Progressive Probabilistic Hough Transform）原理详解

概率霍夫变换（Progressive Probabilistic Hough Transform）的原理很简单，如下所述：

1.随机获取边缘图像上的前景点，映射到极坐标系画曲线；

2.当极坐标系里面有交点达到最小投票数，将该点对应x-y坐标系的直线L找出来；

3.搜索边缘图像上前景点，在直线L上的点（且点与点之间距离小于maxLineGap的）连成线段，然后这些点全部删除，并且记录该线段的参数（起始点和终止点），当然线段长度要满足最小长度；

4.重复1. 2. 3.。

In "A real-time lane marking localization, tracking and communication system":

Hough transform (HT) was proposed in [30] and is usually used to detect lines and circles; it has been used as the core method of lane marking detection in [3] and [31]. The core formula of HT is:

λ=xcos(θ)+ysin(θ)

λ is the length between the origin and the pedal of detected line and θ is the angle of its per