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Detection of the position and the orientation of planar motion objects is a key to advanced object handling. In this paper, we will propose a detection algorithm using the Radon transform and one-dimensional phase-only matched filtering. The proposed vision algorithm performs Radon transform of a sample image and an input image. Next, this algorithm performs one-dimensional phase-only matched filtering along the distance of Radon transform and detects position and orientation of an object. 1 [1] 2 ρ x θ g(, y) R(ρ, θ)= ∞ −∞ g(ξ cos θ − ρ sin θ, ξ sin θ + ρ cos θ)dξ (1) g 0 α β d 0 g 1 g 0 , g 1 R 0 (ρ, θ)R 1 (ρ, θ) R 1 (ρ, θ) ≡ R 0 (ρ − d 0 sin(θ − β), θ + α), ∀ρ, θ. (2) d 0 β ρ α θ 3 a 0 (t) a 0 (t) ϕ a 1 (t) a 0 (t) a 1 (t) a 1 (t) = a 0 (t − ϕ) (3) a 0 (t)a 1 (t) A 0 (f)A 1 (f)

Detection Algorithm of Position and Orientation of Planar Motion Objects using Radon Transform and One-dimensional Phase-Only Matched Filtering