I'm processing SLAM output maps (provided as images) to create CAD-like drawings. My current pipeline is as follows: Pre-processing: Applied edge detection. Line Detection: Used the Hough Transform. Corner Detection: Applied the Harris Corner Detector. Point Refinement: Welded nearby points to reduce noise. At this point, I have a set of detected and refined points representing the structure of the map. However, I'm stuck on how to proceed to draw straight, clean lines from these results that are suitable for CAD drawings. What would be the best approach to convert these welded points/line detection output into smooth, continuous, and straight lines? Input image Threshold image and Corner detection Line Detection Edge Detection Continue reading...
