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Fig. 11.5 The Hough parameter space of the conventional RHT and the proposed RHT method
with local plane filter for a nonplane surface
The vector v normal to the triangular plane obtained by the three spatial points
is calculated by Eq. (
11.6
).
v ¼ P
2
P
1
ð
Þ ð
P
3
P
1
Þ
ð
11
:
6
Þ
The vector v is normalized by the expression in Eq. (
11.7
), and the angle
between the two vectors can be obtained by using an inner product Eq. (
11.8
), if
we use two triangular point sets.
v
k
v
k
n ¼
ð
11
:
7
Þ
a ¼ n
n
0
ð
11
:
8
Þ
Figure
11.5
shows the difference between the conventional RHT method and
the proposed RHT method using local evaluation filter of triangular sampling
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