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Detecting local features, such as corners, segments or blobs, is the firststep in the pipeline of many Computer Vision applications. Its speed is crucialfor real-time applications. In this paper we present ELSED, the fastest linesegment detector in the literature. The key for its efficiency is a localsegment growing algorithm that connects gradient-aligned pixels in presence ofsmall discontinuities. The proposed algorithm not only runs in devices withvery low end hardware, but may also be parametrized to foster the detection ofshort or longer segments, depending on the task at hand. We also introduce newmetrics to evaluate the accuracy and repeatability of segment detectors. In ourexperiments with different public benchmarks we prove that our method accountsthe highest repeatability and it is the most efficient in the literature. Inthe experiments we quantify the accuracy traded for such gain.

ELSED: Enhanced Line SEgment Drawing