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This code is issued for research purposes only and remains the
property of the UK Secretary of State for Defence. This code must
not be passed on without this header information being kept
intact. This code must not be sold.

A UK patent has been granted: "Method for digitally processing
images to determine the position of edges and/or corners therein for
guidance of unmanned vehicle", UK Patent 2272285. Proprietor:
Secretary of State for Defence, UK. 15 January 1997

Source Code obtained from: