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US_Patent4,072,818, Feb 7, 1978
WWW Version.
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And:
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WWW Version. edges of regions.
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SMC(13), 1983, pp. 242-245.
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WWW Version.
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Sethi, I.K.,
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ICPR84(42-44).
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Caines, P.E.,
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CVGIP(33), No. 3, March 1986, pp. 263-279.
WWW Version.
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Earlier:
Edge Detection for Digital Grey Level Images Via Dynamic Programming,
ICPR84(55-58).
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McIvor, A.M.,
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Edge Recognition in Dynamic Vision,
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Higashi, K.,
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Kondo, Y.,
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IEEE DOI Link
1008
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Ratio based.
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0909
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Texture-suppressing edge detection in real-time,
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9109
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Chapter on Edge Detection and Analysis, Lines, Segments, Curves, Corners, Hough Transform continues in
Subpixel Accuracy Edge Detection Methods, Sub-Pixel Edges .