Autonomous Piloting and Simulation on Underwater Manipulations Based on Vision Positioning

Table 2

Line parameters given by Hough line detection and refining procedure.

Line no.	Original Hough	Refined once	Refined twice
No. 1	(386.2500, −13.500)	(411.8512, −11.924)	(411.8512, −11.924)
No. 2	(438.7500, −13.500)	(476.4217, −11.198)	(476.4217, −11.198)
No. 3	(516.2500, −9.000)	(476.4217, −11.198)	(476.4217, −11.198)
No. 4	(466.2500, −9.000)	(411.9747, −11.917)	(411.8512, −11.924)