这个程序可以识别图像中的线段或者直线，算法采用哈夫变换，将直线变换为另一个坐标系中的点，进而完成识别。-this procedure can identify the image or straight line segments, Hough transform algorithm. Linear transformation of coordinate system to another's point, thus completing the identification.

转化成灰度图像,用prewitt算子进行边缘检测,将峰值点在霍夫空间画出,计算障碍物在视觉传感器中成像的高度-Converted to grayscale images, edge detection prewitt operator, the peak point in the Hough space to draw, calculate obstacle in the visual imaging sensor height