A Hough transform with integral Kalman filter refinement. Xu, C. & Velastin, S. In Hough Transforms, IEE Colloquium on, pages 4--1, 1993. IET.
bibtex   
@inproceedings{xu1993hough,
  title={A Hough transform with integral Kalman filter refinement},
  author={Xu, Chengping and Velastin, SA},
  booktitle={Hough Transforms, IEE Colloquium on},
  pages={4--1},
  year={1993},
  organization={IET}
}

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