Before revision:  It can detect complete, partial, and imperfect ellipses in extreme weather and lighting conditions and is lightweight enough to be used on robots' resource-limited onboard computers  .
After revision:  It can detect complete, partial, and imperfect ellipses in extreme weather and lighting conditions and is lightweight enough to be used on robots' resource-limited onboard computers , can deal with lighting variations and detect the pattern even when the view is partial .