We discuss Hough Transform, some of its key properties, a scheme of fast and complete calculation of the Hough Transform (similar to the Fast Fourier Transform), and an efficient implementation of this scheme on SIMD processors. We also demonstrate an application of the Fast Hough Transform in computer vision by the example of an automatic page orientation detection unit incorporated in an intelligent character recognition system. Both 2D (scanner) and 3D (camera) cases of page acquisition are considered.

The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations.

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