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利用哈夫变换实现边缘检测。This paper presents the application of 2D and 3D Hough Transforms together with conformal geometric algebra to build 3D geometric maps using the geometric entities of lines and planes. Among several exist- ing techniques for robot self-localization, a new approach is proposed for map matching in the Hough domain. The geometric Hough representation is formulated in such a way that one can easily relate it to the conformal geometric algebra framework; thus, the detected lines and planes can be used for algebra-of-incidence computations to find geometric constraints, useful when perceiving special config- urations in 3D visual space for exploration, navigation, relocation and obstacle avoidance. We believe that this work is very useful for 2D and 3D geometric pattern recognition in robot vision tasks.