Algorithm 1. Extraction of lines for one segment SS

1: ${\mathbf{L}}_{\mathbf{s}}=\mathbf{\varnothing }$, c = 0, ${\mathbf{p}}_{\mathbf{l}}=\mathbf{\varnothing }$

% ${\mathbf{L}}_{\mathbf{s}}$ denotes a set of line set in segment S, c denotes count of loop,${\mathbf{p}}_{\mathbf{l}}$ denotes a point of line

2: for j = 0 in MAX_B do  % for each bin

3:  if ${\mathbf{p}}_{{\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}}^{\prime }\ne \mathbf{\varnothing }$ then     % if there is a point mapping in ${\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}$

4:   if |${\mathbf{p}}_{\mathbf{l}}$| >= 2 then   % if the number of points in ${\mathbf{L}}_{\mathbf{s}}$ bigger than two

5:    (${\mathbf{m}}_{\mathbf{c}},{\mathbf{b}}_{\mathbf{c}}$) = fitline(${\mathbf{p}}_{\mathbf{l}}\cup {\mathbf{p}}_{{\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}}^{\prime }$)  % line fit to get ${\mathbf{m}}_{\mathbf{c}},{\mathbf{b}}_{\mathbf{c}}$ of L

6:    if $\left|{\mathbf{m}}_{\mathbf{c}}\right|$ <= ${\mathbf{T}}_{\mathbf{m}}$ ∧ (${\mathbf{m}}_{\mathbf{c}}$ > |${\mathbf{T}}_{{\mathit{m}}_{\mathit{s}\mathit{m}\mathit{a}\mathit{l}\mathit{l}}}$| ∨ $\left|{\mathbf{b}}_{\mathbf{c}}\right|$ <= ${\mathbf{T}}_{\mathbf{b}}$) ∧ fitError(${\mathbf{m}}_{\mathbf{c}},{\mathbf{b}}_{\mathbf{c}},{\mathbf{p}}_{\mathbf{l}}\cup {\mathbf{p}}_{{\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}}^{\prime }$) < ${\mathbf{T}}_{\mathbf{RMSE}}$ then

% if match condition of thresholds

7:       ${\mathbf{p}}_{\mathbf{l}}\leftarrow {\mathbf{p}}_{\mathbf{l}}\cup {\mathbf{p}}_{{\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}}^{\prime }$      % add ${\mathbf{p}}_{{\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}}^{\prime }$ to ${\mathbf{p}}_{\mathbf{l}}$

8:    else

9:       (${\mathbf{m}}_{\mathbf{c}},{\mathbf{b}}_{\mathbf{c}}$) $\leftarrow$ fitline (${\mathbf{p}}_{\mathbf{l}}$)    % line fit to get ${\mathbf{m}}_{\mathbf{c}},{\mathbf{b}}_{\mathbf{c}}$ of L

10:      ${\mathbf{L}}_{\mathbf{s}}\leftarrow {\mathbf{L}}_{\mathbf{s}}\cup \{\left({\mathbf{m}}_{\mathbf{c}},{\mathbf{b}}_{\mathbf{c}}\right)\}$

11:      ${\mathbf{p}}_{\mathbf{l}}\leftarrow \mathbf{\varnothing }$           % clear ${\mathbf{p}}_{\mathbf{l}}$

12:      c$\leftarrow$c + 1        % next line segment

13:      j$\leftarrow$j − 1         % next distance

14:   else               % if the number of points in ${\mathbf{L}}_{\mathbf{s}}$ smaller than two

15:    if c = 0 ∨ (${\mathbf{p}}_{\mathbf{l}}\ne \mathbf{\varnothing }$) ∨ $\mathbf{d}\mathbf{i}\mathbf{s}\mathbf{t}\mathbf{p}\mathbf{o}\mathbf{i}\mathbf{n}\mathbf{t}\mathbf{l}\mathbf{i}\mathbf{n}\mathbf{e}({\mathbf{p}}_{{\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}}^{\prime },{\mathbf{m}}_{\mathbf{c}-1},{\mathbf{b}}_{\mathbf{c}-1})\le {\mathit{T}}_{\mathit{d}\mathit{p}\mathit{r}\mathit{e}\mathit{v}}$ then      % if the first point or the distance of point and line match thresholds

16:      ${\mathbf{p}}_{\mathbf{l}}={\mathbf{p}}_{\mathbf{l}}{{\displaystyle \cup }}^{\text{}}{\mathbf{p}}_{{\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}}^{\prime }$        % add ${\mathbf{p}}_{{\mathbf{b}}_{\mathbf{j}}^{\mathbf{s}}}^{\prime }$ to ${\mathbf{p}}_{\mathbf{l}}$