John Princen John Illingworth Josef Kittler Hypothesis Testing: A Framework for Analyzing and Optimizing Hough Transform Performance. 329-341 1994 16 IEEE Trans. Pattern Anal. Mach. Intell. 4 http://doi.ieeecomputersociety.org/10.1109/34.277588 db/journals/pami/pami16.html#PrincenIK94