The effect of spatial discretization on the magnitude and direction response of simple differential edge operators on a step edge

A Fast Line Finder for Vision-Guided Robot Navigation

IEEE Transactions on Pattern Analysis and Machine Intelligence

Improving angular error via systematically designed near-circular Gaussian-based feature extraction operators

Pattern Recognition

A validated edge model technique for the empirical performance evaluation of discrete zero-crossing methods

Image and Vision Computing

Gradient operators for feature extraction and characterisation in range images

Pattern Recognition Letters

Multi-scale edge detection on range and intensity images

Pattern Recognition