“…Because the search range is limited using the HT, the GHT method can reduce the outliers that affect average error. In addition, because the proposed method is based on the HT, its Hough-related parameters were the same as those in the MHT based method [15]: the number of binary images N was 32, the tolerance value T was 0.1, the scale range was [0.9, 1.1] ( [48.04 o , 42.30 o ]), and the resolution was = = 0.0003. Moreover, for the MHT, the number of iterations was 2, and the reduction factor = 2, = 1; and for the proposed GHT, the vote threshold T v was 10.…”