Line–Circle–Square (LCS): A multilayered geometric filter for edge-based detection

Seyed Amir Tafrishi, Xiaotian Dai, Vahid Esmaeilzadeh Kandjani

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper presents a state-of-the-art filter that reduces the complexity in object detection, tracking and mapping applications. Existing edge detection and tracking methods are proposed to create suitable autonomy for mobile robots, however, many of them face overconfidence and large computations at the entrance to scenarios with an immense number of landmarks. The method in this work, the Line–Circle–Square (LCS) filter, claims that mobile robots without a large database for object recognition and highly advanced prediction methods can deal with incoming objects that the camera captures in real-time. The proposed filter applies detection, tracking and learning to each defined expert to extract higher level information for judging scenes without over-calculation. The interactive learning feed between each expert increases the consistency of detected landmarks that works against overwhelming detected features in crowded scenes. Our experts are dependent on trust factors’ covariance under the geometric definitions to ignore, emerge and compare detected landmarks. The experiment validates the effectiveness of the proposed filter in terms of detection precision and resource usage in both experimental and real-world scenarios.

Original languageEnglish
Article number103732
JournalRobotics and Autonomous Systems
Publication statusPublished - 2021 Mar
Externally publishedYes


  • Edge detection
  • Geometric filter
  • Motion field
  • Vision

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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