Error propagation for the Hough transform

In this paper, a statistically ecient Hough transform (HT) technique with improved performance in accuracy and robustness is described. The proposed technique analytically computes the uncertainty of each feature point based on image noise, the procedure used for estimating edge orientation, and the speci®c parametric representation scheme of a line. Using the estimated uncertainty of each feature point, a Bayesian probabilistic scheme is introduced to compute the contribution of each feature point to the accumulator. A performance evaluation of our technique reveals its improved performance, especially for noisy images.