Animations of approaches to line extraction:

1. Online approach based on the split-and-merge algorithm
   
   hera-increment.gif (179 KB)


2. Offline approach based on the Hough-transform
   
   hera-offline.gif (73 KB)


3. Offline approach for line extraction based on EM
   
   hera-em-lines.gif (1.4 MB)


4. Offline approach for line segments based on EM
   
   hera-em-segments.gif (185 KB)