Good method for detecting walls in a map

Good morning,
I'm spending a lot of time trying to convert a simple map into a set of segments in order to perform a Scan Matching with diferent robot poses for localization. I see there's a huge number of tools in Labview regarding Computer Vision and Pattern Matching but, until now, I can't find anything that satisfies my needs.
I tryed Edge Detection.vi but it returns not only the segment of wall but a complete line from side to side of the ROI as you can try in the example I attached. In addition, Edge detection doesn't work well with diagonal walls.
I could use Contour Detection.vi but it turns out that is computationally expensive according to perfermance profile plus it detects contours as points but I need lines because my map is composed of simple straight lines.
Finally I tried IMAQ Rake 3 but I don't know very well how it works and there's no examples of use in the examples folder.
Labview is an amazing programa with a lot of already made complex nodes, There must be a way to simulate what a robot equipped with a Laser Range Finder or LIDAR would see if running in a very simple 2D room.
Thanks in advance.
Attachments:
EdgeDetection.vi ‏50 KB
room.png ‏4 KB

hi
it's very popular and useful function which i am working on .
have you find any solution yet?

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'˙˙˙˙uıɐƃɐ lɐıp puɐ °06 ǝuoɥd ɹnoʎ uɹnʇ ǝsɐǝld 'ʎɹɐuıƃɐɯı sı pǝlɐıp ǝʌɐɥ noʎ ɹǝqɯnu ǝɥʇ'

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* @author skannan
* To change this generated comment edit the template variable "typecomment":
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10001042     03     20090119     5     1200     4     PC     0     99999999          Screw\M16x45\GB/T5783
10001042     09     0010     QM01     1200     inspection     1     1
10001042     18     10      inspection on material     C101     1200     JF035     1200     GUD5     PC
10001042     18     20      Inspection on size     C102     1200     JF034     1200     GUD5     PC
Then copy start from Column B, i.e., without the material numbers in Column A, to .txt file.
Specy the file in Step 7 in lsmw.
the step 8, assign this .txt file to all structures
then step 9, 10, 11, 12, 13 Creast Session and run it in at the end.
Actually this program is not possible for QP02. If you want to make some correction on the inspection plans in SAP, you'd better delete them and upload the revised one.
This program is very similar to CA01 Production Routing and thus also applicable to CA01. But I recommend using Object 0170;Method 0002;Program RCPTRA02; Program Type D for CA01, because it provides testing transfer at the end so that you can check out logical errors, and much fastee. Pity that for QP01 there is no such program
Currenty I am acting as Data cunsultant for an Elevator Manufaturer in China, hope my experience would help for you. My MSN is zhangxiaojun at msn dot com

Good method for detecting walls in a map

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