RANSAC-Based Random Circle Detection and Fitness Evaluation Method for Spot Localization

Symbol	Definition	Preset value
$N^{'}$	Number of edge points of the spot	0
$N_{s c a n}$	Radial scanning times	100
$R_{s c a n}$ /pixel	Radial scanning radius	60
$n_{s}$	Number of successful random circle detection	0
$T_{n, s}$	Threshold for successful random circle detection	30
$i_{e}$	Number of random circle detection executed	0
$T_{i, e}$	Maximum number of random circle detection	5000
$T_{d i s t}$	Threshold for the distance from inlier to the random circle	2
$g$	Random circle fitness	0
$T_{g}$	Threshold for circle fitness	0.7
$g_{m a x}$	Candidate circle fitness	0

Table 2. Parameter descriptions and preset values of the five methods

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Table 2. Parameter descriptions and preset values of the five methods

Method	Parameter	Symbol	Preset value
RFE	Threshold for the distance from inlier to the random circle	$T_{d i s t}$	2
	Maximum number of random circle detection	$T_{i, e}$	5000
	Threshold for successful random circle detection	$T_{n, s}$	10
	Threshold for circle fitness	$T_{g}$	0.7
	Radial scanning radius	$R_{s c a n}$ /pixel	60
	Radial scanning times	$N_{s c a n}$	100
RDS	Distance threshold for inlier	$T_{d i s t}^{'}$	2
	Number of inlier	$T_{i n}$	50
	Threshold for random circle sampling times	$T_{f a i l}$	500
HT	Radius quantization unit	$Δ R$ /pixel	1
	Minimum radius	$R_{m i n}$ /pixel	30
	Maximum radius	$R_{m a x}$ /pixel	60
LS	No predefined parameter	NULL	NULL
SW	No predefined parameter	NULL	NULL

Table 3. Average errors and localization time of different methods for spot center localization
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Table 3. Average errors and localization time of different methods for spot center localization
Method Average localization error /pixel Average localization time /ms Average diopter error /D
RFE 0.242 33 0.0079
RDS 3.334 156 0.1100
HT 0.279 743 0.0092
LS 2.094 27 0.0690
SW 0.757 79 0.0240

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Xuancai Lu, Jinsong Wang. RANSAC-Based Random Circle Detection and Fitness Evaluation Method for Spot Localization[J]. Laser & Optoelectronics Progress, 2025, 62(12): 1212005

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