首先检测图像中相邻的像素点并进行聚类, 形成一些相连的像素点的集合, 然后将聚类

后的像素点进行感知编组, 细分成比原聚类线段更接近直线的线段, 最后对每段近似直线用随机 Hough变换进行检测-First detection in adjacent pixels of the image and clustering, form some connected set of pixels, then clustering

Pixels after perception marshalling, subdivided into more than the original clustering line close to the straight line segment, at the end of each period of approximate straight line detection using randomized Hough transform