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Ellipse center point is perspectively incorrect
MapMap ellipse center point creates a "conical projection":

What we want is a perspective correct center:

I managed to implement a better version by splitting in 4 quarters. Result is closer to what we want but still weird (perspectively incorrect):

Removing the milestone as this has become low priority (the fix I implemented is ok for now).
Quite interestingly this PowerPoint on car wheel detection could contain the solution we are looking for: http://www.hutter1.net/ai/wheel.pdf