machine-learning computer-vision hough-transform shape-detection combinatorial-optimization 3d-space position-tracking line-detection-algorithm convergence-analysis greedy-solution classification-of-image-points introducing-a-priori-knowldge robust-to-low-snr estimating-piecewise-linear-models minimum-number-of-consistent-subsystems np-hard-problem thermal-variant-perception-algorithm relaxation-algorithms projection-to-unit-cylinder temperature-annealing-scheme