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Duda, Richard O., and Peter E. Hart. "Use of Hough Transformation to Detect Lines and Curves in Pictures." \i Communications of the ACM\i0  15, no. 1 (1972): 11-15.\par \par Hart, Peter E., Nils J. Nilsson, and Bertram Raphael. "A Formal Basis for the Heuristic Determination of Minimum Cost Paths." \i IEEE Transactions on Systems Science and Cybernetics\i0  4, no. 2 (1968): 100-107.\par \par }