Figure 7.

The various processing steps and outputs as the sensor system finds and explores each test object. The largest images show the early reconstruction stage, using the whole path. C,H,O show the live video from the camera. A,F,M show both the sensor image and the edge detection algorithm output. B,G,N show the extracted feature from the algorithm alone. Finally, D,I,P show two equal areas parallel to the detected edge. Within each of these areas, the number of papillae is calculated so the higher side of the edge can be found (due to the convergence or divergence of the papillae).