The Hough Transform for Lines
•A line is the set of points (x, y) such that:
•y = mx + b
•For any (x, y) there is a line in (m,b) space describing the lines through this point.  Just let (x,y) be constants and m, b be unknowns. •Each point gets to vote for each line in the family; if there is a line that has lots of votes, that should be the line passing through the points