Before revision:  To map such lines in a real-time event stream, we introduce HoughCeption , a novel consecutive iterative event-based Hough transform framework capable of detecting, tracking, and triangulating close-by structures.
After revision:  To map such lines in a real-time event stream, we introduce Hough2Map , a novel consecutive iterative event-based Hough transform framework capable of detecting, tracking, and triangulating close-by structures.