John Princen John Illingworth Josef Kittler A hierarchical approach to line extraction based on the Hough transform. 57-77 1990 52 Comput. Vis. Graph. Image Process. 1 https://doi.org/10.1016/0734-189X(90)90123-D db/journals/cvgip/cvgip52.html#PrincenIK90
