Apparatus for hough-converting coordinate data

Abstract: Disclosed herein is an apparatus for and a method of Hough-converting coordinate data in a rectangular coordinate system. The apparatus includes circulating means for receiving prescribed data corresponding to the coordinate data therein so as to successively add prescribed numbers to the prescribed data while circulating the prescribed data. In addition, the method comprises the steps of determining Hough conversion data corresponding to the following coordinate data (x+g, y) in the x-axis direction of coordinate data (x, y) in accordance with the following equation: ρ(x+g, y, ϑ n ) = ρ(x, y, ϑ n ) + a where a and g are constants, and a = g·cosϑ n , when the equation for the Hough conversion of the coordinate data (x, y) at the time the coordinate data are set as (x, y) is given by the following equation: ρ(x, y, ϑ n ) = x·cosϑ n + y·sinϑ n ; and determining Hough conversion data corresponding to the following coordinate data (x, y+h) in the y-axis direction of the coordinate data (x, y) in accordance with the following equation: ρ(x, y+h, ϑ n ) = ρ(x, y, ϑ n ) + b where b and h are constants, and b = h·sinϑ n .

Description: The present invention relates to an apparatus for and a method of Hough-converting coordinate data. As one of methods for detecting straight line segments, there is known one referred to as "Hough Conversion" (disclosed in U.S.P No. 3, 069, 654, for example). Hardware for effecting the Hough conversion is disclosed, for example, in the article "Hardware for Hough Conversion Using ROM" by K. Onda, et al., (all-Japan meeting of the 70th anniversary of the founding of the Institute of Electronics and Communication Engineers of Japan, No. 1587, 1987). The disclosed is shown in FIGS. 1 and 2. FIG. 1 is a block diagram of a single processing element PE. FIG. 2 is a block diagram showing a Hough converting circuit having k+1 processing elements PE 0 to PE k obtained by dividing ρ -  parameter space into k+1 pieces in a  direction and connected in parallel. As shown in FIG. 1, the processing element PE comprises memories ROM1, ROM2 for storing therein values of data of x·cos n and y·sin n , respectively, for each value , taking x, y as addresses, flip-flops FF1, FF2 for temporarily storing therein the values of the data of x·cos n and y·sin n , which are outputted from the ROM1, ROM2, respectively, and an adder (ADD) for adding the values of the data of x·cos n and y·sin n so as to output the added result of Hough conversion, i.e., ρ by the following equation: ρ = x·cos n + y·sin n According to the processing element PE, the expressions (x·cos n and y·sinn) representing a Hough curve (sine curve) in a ρ -  plane can be added as given below if the values of coordinates (x, y) in an X-Y rectangular coordinate system are inputted. ρ = x·cos n + y·sinn Therefore, k+1 kinds of values ρ (ρ 0 , ρ 1 , ..., ρ k) with respect to the coordinates (x, y) can be determined simultaneously by connecting the k+1 processing elements in parallel as shown in FIG. 2. However, this method has a disadvantage that the ROM1 and ROM2 must be provided for each value ρ. It is therefore difficult to integrate easily the components of the Hough converting circuit into LSI chips, so that hardware is significantly large-scaled and complicated. In order to facilitate the integration of the components into the LSI chips, there is known a method for making ROMs in the form of RAMs. However, such a method has a disadvantage that the degree of integration cannot be increased. In addition, the resolution capabilities of the Hough converting circuit in a  direction in the ρ -  parameter space are determined by the data stored in the ROM1 and ROM2. It is therefore very difficult to carry out a change in setting of the resolution of the circuit in the  direction. Fujitsu Scientific and Technical Journal Vol. 24, No. 1, pages 35-46, March 1988, K. Hanahara et. al., "A Real-Time Hough Transform Processor", discloses architecture to address the problem of the long computation time required for the Hough transform in real-time applications. EP-A2-0341985 in the name of the applicants discloses a picture processing device employing Hough transformation for the recognition of the road configuration. Picture data is processed in a DDA computing circuit. It is a principal object of the present invention to provide an apparatus for performing Hough conversion of coordinate data, which can be fabricated in a simple structure and easily made in the form of an LSI chip, and wherein the change in setting of the resolution in a  direction can easily be performed. According to the present invention, there is provided an apparatus for successively performing Hough conversion of coordinate data continuous in coordinate-axes directions of a rectangular coordinate system, which comprises a plurality of processing elements arranged in association with a plurality of values  n which are different from-one another, the arrangement of each of the processing elements being such that when the equation for the Hough conversion of the coordinate data at the time the coordinate data are set as (x, y) is given by the following equation: ρ(x, y,  n ) = x·cos n + y·sin n , Hough conversion data corresponding to the following coordinate data (x+g, y) in the x-axis direction of the coordinate data (x, y) are determined in accordance with the following equation: ρ(x+g, y,  n ) = ρ(x, y,  n ) + a where a and g are constants, and a = g · cos n , and Hough conversion data corresponding to the following coordinate data (x, y+h) in the y-axis direction of the coordinate data (x, y) are determined in accordance with the following equation: ρ(x, y+h,  n ) = ρ(x, y,  n ) + b where b and h are constants, and b = h·sin n . The present invention preferably comprises means for successively reading, in the y-axis direction, data from a coordinate system in which the values x and y of two-dimensional coordinates (x, y) are continuously changed at prescribed intervals g and h respectively while scanning said data in an x-axis direction using said x-axis and said y-axis directions as main and sub scanning directions respectively wherein said Hough conversion is performed on said x and y coordinates, said plurality of processing elements further comprising: first means for receiving data of h·sin n so as to circulate the same therein and add the same accumulatively each time a scanning operation corresponding to the other of said prescribed intervals is made, thereby outputting data corresponding to y·sin n therefrom; second means for receiving data of g·cos n so as to circulate the same therein and add the same accumulatively each time a scanning operation corresponding to the other of said prescribed intervals is made, thereby outputting data corresponding to x·cos n ; and third means for outputting data corresponding to said ρ(x, y, n) based on the output data of said first means and said second means. A preferred feature of the present invention is to provide the apparatus wherein the third means for outputting data includes at least one multiplexer for receiving the output data of the first means and the second means. The present invention preferably comprises means for reading data in a coordinate system in which values x and y of two-dimensional coordinates (x, y) are continuously changed at prescribed intervals, respectively, while scanning said data using said x-axis and said y-axis directions as main and sub scanning directions, respectively, wherein said Hough conversion is performed on said x and y coordinates; first memory means for receiving data of sin n - (ℓ+1).cos n and storing the data therein when the number of coordinate points in the x-axis direction is set to (M+t); second memory means for receiving data of g·cos n and storing the data therein; and circulating means for adding the contents of the data stored in said second memory means and a previous result of addition each time the value x is increased by g so as to produce a result thus added as a new result of addition, and for adding the contents of the data stored in said first memory means to said new result of addition each time said first-mentioned addition is repeated ℓ times to thereby output the so-added result therefrom. A preferred feature of the present invention is to provide apparatus wherein the circulating means further comprises: selecting means for receiving therein the contents of the data stored in said first memory means and the contents of the data stored in said second memory means so as to select the contents of the data stored in said first memory means only when an addition subsequent to the addition of ℓ times is made, and to select the contents of the data stored in said second memory means when an addition other than said addition is made, thereby outputting the contents thus selected as an output therefrom; adding means for receiving the output of said selecting means therein as one input; and holding means for receiving and holding an output of said adding means therein and for accepting an output of said adding means therein as another input. The above and other objects, features and advantages of the present invention will become apparent from the following description and the appended claims, taken in conjunction with the accompanying drawings in which preferred embodiments of the present invention are shown by way of illustrative example. FIGS. 1 and 2 are diagrams showing the structures of a conventional processing element and Hough converting circuit, respectively; FIG. 3 is a block diagram depicting a processing element PE according to one embodiment of the present invention; FIG. 4 is a timing chart for describing the operation of the processing element PE; FIG. 5 is a diagram illustrating the structure of a Hough converting circuit according to said one embodiment of the present invention; FIGS. 6 and 7 are diagrams each for describing the principle of Hough conversion; FIGS. 8, 9 and 10 are diagrams each for describing the principle of Hough conversion according to the present invention; FIG. 11 is a block diagram showing a modification of the processing element PE according to said one embodiment of the present invention; FIG. 12 is a block diagram depicting hardware that makes up a processing element FE according to another embodiment of the present invention; FIG. 13 is a diagram for describing a coordinate data scanning method and the principle of Hough conversion for the coordinate data; FIG. 14 is a timing chart for describing the operation of the processing element according to said another embodiment of the present invention; and FIG. 15 is a block diagram showing an image processing apparatus to which a circuit according to the present invention is applied. A processing element PE according to one embodiment of the present invention is constructed as shown in FIG. 3. The processing element PE is activated in accordance with a timing chart shown in FIG. 4. The processing element PE is made up of a combination of respective processing elements as shown in FIG. 5 by way of example, and forms a circuit for performing Hough conversion. Prior to a specific description of the present embodiment, the principle of the present embodiment will be described below with reference to FIGS. 6 through FIG. 10 in order to facilitate the understanding of the present embodiment. Let's now consider Hough conversion of a coordinate (i, j) in an X-Y coordinate system. First of all, straight line segments ℓ 0 , ℓ 1 , ..., ℓ f-1 , ℓf, which pass through the coordinate (i, j), are plotted, and straight line segments L 0 , L 1 , ..., L f-1 , L f , which pass through the origin (0, 0) and meat at right angles to these straight line segments ℓ 0 , ℓ 1 , ..., ℓ f-1 , ℓf, are drawn. As a consequence, ρ 0 , ρ 1 , ..., ρ f out of Hough conversion data (ρ, ) are each determined as the length of each of the straight line segments L 0 , L 1 , ..., L f , and  0 ,  1 , ...,  f out of the Hough conversion data (ρ, ) are determined as angles made between the x axis and each of the straight line segments L 0 , L 1 , ..., L f , respectively. When the value  is successively changed with the coordinate (i, j) being fixed, the value ρ is given by the following equation: ρ = i·cos + j·sin The arithmetic operation of the value ρ can be performed by a processing element PE shown in FIG. 1 by way of example. If the values  in X·cos n and Y·sin n , which are stored as data in ROM1 and ROM2 respectively, are set as  0 ,  1 , ...,  f-1 ,  f , the value ρ is determined as each of ρ 0, ρ 1, ..., ρ f-1 , ρ f , ... in association with each value  with respect to the coordinate (i, j). When each of ρ 0 , ρ 1 , ..., ρ f-1 , ρ f , ... thus determined is plotted in a ρ- plane, a Hough curve with respect to the coordinate (i, j) can be represented in the form of a sine curve such as shown in FIG. 7. A novel method completely different from the method referred to above is adopted in the present embodiment. More specifically, the value i in the coordinate (i, j) is successively changed while fixing the value  as shown in FIG. 8 on the assumption that the coordinate (i, j) is continuous in a raster scan form. Let's here assume that the values i and j in the coordinate (i, j) are increased one by one from zero for the simplicity of description. Let's now consider where the coordinate value in the y-axis direction is fixed to j as shown in FIG. 9. Then, a straight line segment L p is drawn from the origin (0, 0) in a state in which the value  has been fixed to ( p ). As a consequence, the value ρ with respect to each of the coordinates (0, j), (1, j), (2, j), ..., (i-1, j), (i, j), (i+1, j), ... is determined as each of ρ, ..., ρ i-1 , ρ i , ρ i+1 , .... Since the coordinate value j in the y-axis direction is fixed, ρ i is given by the following equation: ρ i = i·cos + a where a represents a constant. When the value ρ thus determined is plotted in the ρ- plane, the result is as shown in FIG. 10. Therefore, the value ρ at  p corresponding to the coordinate value in the Y-axis direction be equal to zero is determined in a first Step, and the value ρ at  p corresponding to the coordinate value in the Y-axis direction be equal to one is determined in a second Step. The value ρ at  p corresponding to the coordinate value in the Y-axis direction be equal to each of 2, 3, ..., m, ... is hereafter determined repeatedly. As a consequence, the value  =  p is determined with respect to all the coordinates indicated by black circle spots in FIG. 8. The processing element PE shown in FIG. 3 is used to perform such processing referred to above. Then, when a Hough converting circuit shown in FIG. 5 is constructed by allotting a single processing element PE to each value  as in the case where a processing element PE 0 is allotted to the value  0 , a processing element PE 1 is allotted to the value  1 , a processing element PE 2 is allotted to the value  2 , ..., the Hough conversion processing with respect to all the coordinates can be performed in a parallel manner. More specifically, the present embodiment is so constructed that when the equation for the Hough conversion of the coordinate (x, y) in the X-Y coordinate system to be Hough-converted is represented as follows: ρ(x, y,  n ) = x·cos n + y·sin n where n = 0, 1, 2, ..., k-1, Hough conversion data relative to the following coordinate (x+1, y) in the x-axis direction are determined from the following equation: ρ(x+1, y,  n ) = ρ(x, y,  n ) + a where a represents a constant. In addition, Hough conversion data relative to the following coordinate (x, y+1) in the Y-axis direction are determined from the following equation: ρ(x, y+1,  n ) = ρ(x, y,  n ) + b where b represents a constant. A description will now be made of the processing element PE according to the present embodiment with reference to FIG. 3. As shown in FIG. 3, a processing element PE n comprises a first circuit 1 used to perform the arithmetic operation of Y·sin n , and a second circuit 2 used to carry out the arithmetic operation of X·cos n and output the result of its arithmetic operation therefrom. In the same drawing, DATA are represented as sin n , cos n , and stored in registers 1, 2 (hereinafter called "REG1 and REG2") in synchronism with clocks 1, 2 (hereinafter called "CK1 and CK2"), respectively. Two adders 1, 2 (hereinafter called "ADD1 and ADD2") are used to add two input data, respectively. An output from the ADD1 is stored in a flip-flop 1 (hereinafter called "FF1"). A multiplexer (hereinafter called "MPX") serves to select one of input terminals A and B in response to a select signal (hereinafter called "SEL signal"), and store the result of processing by the multiplexer in a flip-flop 2 (hereinafter called "FF2"). The contents of the FF2 are fed back to the ADD2 in synchronism with a clock 4 (hereinafter called "CK4"), and supplied to a prescribed histogram updating unit as an output RO. The operation of the above-described processing element PE will now be described briefly. When the coordinates (0, 0), ..., (i, 0), ..., (u, 0) are processed, the value  is taken as the value  n . More specifically, ρ- parameter space is divided into k pieces in a  direction, where n = 0, 1, 2, ..., k-1. First, sin n and cos n are stored as data in the REG1 and REG2, respectively. However, prior to their storage, the FF1 and FF2 are reset to a zero state. When the value Y is kept constant (i.e., the value Y is equal to zero), the MPX selects the input terminal B thereof in response to the SEL signal. Therefore, the coordinate processing is executed only by the second circuit 2 for performing the arithmetic operation of X·cos n . Thus, the FF2 outputs 0·cos n , 1·cos n , 2·cos n , ..., (i-1)·cos n , i·cos n , ..., u·cos n as the output R0 in synchronism with the CK4. When a calculation is made up to the coordinate (u, 0) (i.e., when a calculation is made up to u·cos n ), the value Y is incremented by 1 and the next line is calculated. Namely, the coordinates (0, 1), (1, 1), ..., (i, 1), ..., (u, 1) are processed. In this case, the MPX selects the input terminal A thereof in response to the SEL signal upon incrementing the value Y by 1, thus setting data of 1·sin n which has been stored in the FF1 to the FF2. Then, the MPX selects again the input terminal B thereof in response to the SEL signal. Thus, 0·cos n + 1·sin n , 1·cos n + 1·sin n , ..., u·cos n + 1·sin n are calculated. A further detailed description of the above-described operation will be made with reference to a timing chart shown in FIG. 4. Incidentally, the value  n is indicated as the value  in FIG. 4 for the purposes of simplicity, and the reference character u is set equal to 511. First of all, the REG1 and REG2 store data of sin n and cos n therein in synchronism with rises of the CK1 and CK2, respectively. Since the FF1 and FF2 have been reset, the outputs thereof are both zero (0·sin n and 0·cos n ). In addition, the MPX selects the input terminal B. When the FF2 supplies the output to the ADD2 in synchronism with the rise of the CK4 so as to circulate therein, the output from the FF2 is changed to 1·cos n , 2·cos n , .... If the SEL signal is set to one when the output R0 becomes equal to 511·cos n , the MPX selects the input terminal A in response to the SEL signal. At this time, the output from the FF1 has already been changed into 1·sin n in response to the rise of the CK3. Thus, the FF2 outputs sin n (= 0·cos n + 1·sin n ) as data after 511·cos n . Thereafter, when the SEL signal is set to zero, the MPX selects the input terminal B. Therefore, the output from the FF2 circulates in the ADD2 so as to be changed into 1·cos n + sin n , 2·cos n +sin n , 3·cos n + sin n , .... Then, if the SEL signal is set to one when the output R0 becomes equal to 511·cos n + sin n , the MPX switches the input terminal B to the input terminal A again. As a consequence, the FF1 supplies data of 2·sin n to the MPX. Accordingly, the FF2 outputs 2·sin n (= 0·cos n + 2·sin n ) as data after 511·cos n + sin n . Thereafter, when the SEL signal is set to zero, the MPX is activated so as to switch the input terminal A to the input terminal B. Therefore, the output of the FF2 circulates in the ADD2 so as to be changed into 1·cos n + 2·sin n , 2·cos n + 2·sin n , 3·cos n + 2·sin n , .... FIG. 5 shows a Hough converting circuit in which the processing element PE shown in FIG. 3 is employed. In the Hough converting circuit, the ρ- parameter space is divided into k parts in the  direction. The processing element PE n corresponds to each value  n . Namely, respective processing elements PE 0 , PE 1 , ..., PE k-1 bear their corresponding various values  (=  0 ,  1 ,  2 , ...,  k-1 ). Accordingly, the arithmetic operation of each value  at each processing element PE is carried out simply by adding each simple constant together. It is therefore possible to perform the Hough conversion at extremely high speed. The processing element PE shown in FIG. 3 can also be modified as illustrated in FIG. 11. The modification shown in FIG. 11 is different from the processing element PE depicted in FIG. 3 in that a REG3 for storing data of X 0 ·cos + Y 0 ·sin (X 0 and Y 0 are arbitrary constants) therein is further provided and an MPX1 is provided between the ADD1 and the FF1 and having an input terminal A thereof connected to the output of the REG3. Incidentally, an MPX2 functions in the same manner as the MPX shown in FIG. 3, and a SEL2 signal corresponds to the SEL signal shown in FIG. 3. According to this modification, when the MPX1 selects the input terminal A in response to the SEL1 signal, the coordinate values for starting the Hough conversion can arbitrarily be set. By returning the input terminal A to the input terminal B after having established the coordinate values, the modification can be activated in the same manner as the processing element shown in FIG. 3. Even in the case where the coordinate values (i, j) in the X-Y coordinate system are incremented g by g, and h by h, respectively, data to be inputted to the REG1, REG 2 shown in FIG.3 or FIG. 11 can be treated as being h·cos, g·cos. FIG. 12 is a block diagram showing a processing element (PE) according to another embodiment of the present invention. The processing element according to the present embodiment is different from that according to each of the embodiments shown in FIGS. 3 and 11. This processing element is provided only with a single circulating means for adding data accumulatively while circulating the same. As shown in FIG. 12, a REG5 stores "cos n " as first data, and a REG6 stores "sin n - ℓ·cos n " as second data. An MPX5 serves to select one of the input terminals A and B in response to a SEL5 signal, and supplies an output to an ADD5. An output from the ADD5 is supplied to an FF5 from which an output (ρ) is taken out to the outside and fed back to the ADD5. The operation of the processing element shown in FIG. 12 is carried out as shown in FIGS. 13 and 14. The REG6 shown in FIG. 12 stores data of "sin n - ℓ· cos n " therein. However, the reference character "ℓ" in this expression represents a region in the x-axis direction, which is to be scanned on the x-y coordinate, as shown in FIG. 13(a). In addition, the principle of calculation of the expression "sin n - ℓ·cos n is as shown in FIG. 13(b). More specifically, when it is desired to perform Hough conversion, coordinate data are scanned in the x-axis direction provided that the value y is constant. Each time one line is scanned at an inclination of cos n , date of "sin n - ℓcos n " is added to one line thus scanned, thereby incrementing the value y by 1 after which the following scanning operation is carried out. When such an operation is specifically described in association with the processing element shown in FIG. 12, it is represented by the timing chart shown in FIG. 14. Incidentally, the value  n is represented as the value  in FIG. 14 for the purposes of simplicity. The range ℓ of a spindle in the x-axis direction is set equal to 511. First of all, the REG5 stores data of cos n therein when a CK7 rises, and the REG6 stores data of sin n - 511·cos n when a CK8 falls. When the MPX 5 selects the input terminal A, data circulate in a means comprising the ADD5 and FF5 and are added accumulatively. More specifically, the increase in the output (ρ) is made in order of con n , 2·cos n , 3·cos n , ... each time a CK9 is set to 1. When the increase in the output (ρ) reaches 511·cos n , the scanning process for one line in the x-axis direction is terminated. Then, when the input terminal A of the MPX5 is changed to the input terminal B thereof by the SEL5 signal, data of 511·cos n is added to data of sin n - 511·cos n so as to output data of sin n , so that the MPX5 selects the input terminal B. Therefore, coordinate data in the x-axis direction advanced by 1 in the y-axis direction are subsequently scanned. FIG. 15 is a block diagram showing an image processing apparatus in which the Hough converting circuit according to the embodiment of the present invention is employed. A camera 11 scans an object (for example, a road) to record the image of the object therein as an original image, and supplies image data to a signal input unit 12. The signal input unit 12 serves to convert the image data into digital data. An edging unit 13 differentiates the digital data in the coordinate-axes direction to output edged data therefrom. A pre-processing unit 14 includes a LUT (look-up table), and eliminates the components of noise from the edged data. If necessary, the pre-processing unit 14 performs the coordinate data conversion and supplies the same to a memory 15. Thus, the memory 15 stores therein concentration value data representing a series of spots (spots of an object to be processed) corresponding to configurations of the road, and stores 0 in a location other than the location where the concentration value data are stored. The detection of a straight line segment by the Hough conversion is performed by calculating Hough curves relative to the spots of the object to be processed and determining a histogram represented by intersections of the Hough curves in ρ -  plane. Thus, a signal read unit 16 reads the contents of data stored in the memory 15 therefrom successively in the raster scan form, and supplies the same to a histogram updating unit 17. On the other hand, a Hough converting circuit 18 comprises N+1 processing elements PE( 0 ) to PE( N ). Described more specifically, if the resolution of  is set to 1 degree,  0 ,  1 ,  2 , ... become equal to 0°, 1°, 2°, ...., respectively. Data of ρ(x, y,  0 ) to ρ(x, y,  N ) determined by the processing elements PE( 0 ) to PE( N ) respectively are supplied to the histogram updating unit 17. Then, the histogram updating unit 17 adds the concentration value data representing the spots of the object to be processed to histogram data read, provided that the data ρ(x, y,  0 ) to ρ(x, y,  N ) are taken as addresses, from a histogram memory 19 comprised of N+1 RAMs corresponding to the processing elements PE ( 0 ) to PE( N ), and then restores the results of addition at the same addresses. Data stored in the histogram memory 19 are subjected to, for example, eight-step proximity filtering processes in a proximity filter 20, and the data thus processed are subjected to sorting in a sorting unit 21. According to the present embodiment, as has been described above, the Hough conversion data correspond-ing to the coordinate (x, y) can be determined simply by inputting data of h·sin n and g·cos n (where h and g are constants) and adding the same accumulatively in accordance with the following equation: ρ = x·cos n + y·sin n In other words, Hough conversion data ρ(x+g, y,  n ) and Hough conversion data ρ(x, y+h,  n ) represented by (x, y,  n ) at the following coordinates (x+g, y) and (x, y+h) of the coordinate (x, y), respectively can be determined simply by adding simple constants accumulatively. It is therefore possible simultaneously to both simplify the hardware and to perform Hough conversion processing at high speed.

Claims: An apparatus for successively performing Hough conversion of coordinate data continuous in coordinate-axes directions of a rectangular coordinate system, which comprises: a plurality of processing elements (PE) arranged in association with a plurality of values  n which are different from one another characterized by the arrangement of each of said processing elements being such that when the equation for the Hough conversion of said coordinate data at the time said coordinate data are set as (x, y) is given by the following equation: ρ(x, y,  n ) = x·cos n + y·sin n , Hough conversion data corresponding to the following coordinate data (x+g, y) in the x-axis direction of said coordinate data (x, y) are determined in accordance with the following equation: ρ(x+g, y,  n ) = ρ(x, y,  n ) + a where a and g are constants, and a = g·cos n , and Hough conversion data corresponding to the following coordinate data (x, y+h) in the y-axis direction of said coordinate data (x, y) are determined in accordance with the following equation: ρ(x, y+h,  n ) = ρ(x, y,  n ) + b where b and h are constants, and b = h·sin n . An apparatus according to claim 1, further comprising means for successively reading, in the y-axis direction, data from a coordinate system in which the values x and y of two-dimensional coordinates (x, y) are continuously changed at prescribed intervals g and h respectively while scanning said data in an x-axis direction using said x-axis and said y-axis directions as main and sub scanning directions respectively wherein said Hough conversion is performed on said x and y coordinates, said plurality of processing elements further comprising: first means for receiving data of h·sin n so as to circulate the same therein and add the same accumulatively each time a scanning operation corresponding to the other of said prescribed intervals is made, thereby outputting data corresponding to y·sin n therefrom; second means for receiving data of g·cos n so as to circulate the same therein and add the same accumulatively each time a scanning operation corresponding to the other of said prescribed intervals is made, thereby outputting data corresponding to x·cos n ; and third means for outputting data corresponding to said ρ(x, y, n) based on the output data of said first means and said second means. An apparatus according to claim 2, wherein said third means for outputting data includes at least one multiplexer for receiving the output data of said first means and said second means. An apparatus according to claim 1, further comprising means for reading data in a coordinate system in which values x and y of two-dimensional coordinates (x, y) are continuously changed at prescribed intervals, respectively, while scanning said data using said x-axis and said y-axis directions as main and sub scanning directions, respectively, wherein said Hough conversion is performed on said x and y coordinates; first memory means for receiving data of sin n - (ℓ+1).cos n and storing the data therein when the number of coordinate points in the x-axis direction is set to (M+t); second memory means for receiving data of g·cos n and storing the data therein; and circulating means for adding the contents of the data stored in said second memory means and a previous result of addition each time the value x is increased by g so as to produce a result thus added as a new result of addition, and for adding the contents of the data stored in said first memory means to said new result of addition each time said first-mentioned addition is repeated ℓ times to thereby output the so-added result therefrom. An apparatus according to claim 4, wherein said circulating means further comprises: selecting means for receiving therein the contents of the data stored in said first memory means and the contents of the data stored in said second memory means so as to select the contents of the data stored in said first memory means only when an addition subsequent to the addition of ℓ times is made, and to select the contents of the data stored in said second memory means when an addition other than said addition is made, thereby outputting the contents thus selected as an output therefrom; adding means for receiving the output of said selecting means therein as one input; and holding means for receiving and holding an output of said adding means therein and for accepting an output of said adding means therein as another input.

Inventors: HASEGAWA HIROSHI, ISHII JUN, HASEGAWA, HIROSHI, ISHII, JUN
Applicants: HONDA MOTOR CO LTD, HONDA GIKEN KOGYO KABUSHIKI KAISHA
Application year: 1990
Main classification: G06K9
IPC codes: G06F7, G06K9, G06F17, G06T7, G06T3