We need to get back to Matsui's notations.
X is represented as X[31].... X[0]
K is represented as K[47]......K[0]
In X[15] ⨁ F5(X,K)[7,18,24,29] = K[22]
X[15] is actually the round input before expansion E and is therefore the 4th bit of SBOX 5 with input bits of S5 being x[5]x[4]x[3]x[2]x[1]x[0]. X[15] = x[4] in practise and the key bit is the 23rd from right to left, hence K[22] because the first one is K[0].
Then F5(X,K) = P(S5(X, K)), for which we sum up the 4 output bits. The bits straight out of S5 are Y[15], Y[14], Y[13] and Y[12], with Y = Y[31]......Y[0] using Matsui's notation, Y is mine.
If we apply P to Y, P(Y[15]Y[14]Y[13]Y[12]) is the permuted output of S5 (that would be P(Y[17]Y[18]Y[19]Y[20]) in a "normal DES" representation from left to right) and becomes Z[24]Z[18]Z[7]Z[29] before expansion for the next round.
Hence the result:
X[15] ⨁ Z[24] ⨁ Z[18] ⨁ Z[7] ⨁ Z[29] = K[22] or
X[15] ⨁ Z[7] ⨁ Z[18] ⨁ Z[24] ⨁ Z[29] = K[22] as presented by Matsui.
Note 1: X is the input of round R before expansion, Z is the input of round R+1 before expansion
Note 2: it looks like Matsui used the processor's bit order as opposed to standard DES notations
Kiss