HOUGH ALGORITHM
Choose an analytic form f(x,y,a1,a2,…,an) and choose a range of values for parameters a1, a2, a3,….,an.
Create accumulator array A(a1,a2,…,an) which represents direct match of f(x,y,a1,a2,…,an) with binary image.
Local for local maximum which exceeds certain threshold.