Canny Edge Detector

About

Canny edge detector that is useful for image processing in multiple ways. To start with it reduces the amount of data needed to process then doing it on the original image by removing the non structure data, what the algorithm sees not as an edge.

Algorithm used 5 steps: Gaussian filtering to remove noise, Finding Intensity gradients, Apply non-maximum suppression, Apply double threshold , Apply hysteresis.

Our use

We use it for the purpose to remove noises and unnecessary data from the map robot gives. It's then applied with Hough Transform where its job is to find the lines corresponding to the walls of the map.