| Algorithm 1. Edge Point Detection |
| DetectEdgePoints(IBB, D, E, dthr): |
| DE←Ø |
| N← list of relative neighbor addresses for 8-pixel neighborhood |
| fori in IBB |
| idx ← IBB[i] |
| d ← D[idx] |
| for n in N |
| dn ← D[idx + n] |
| if |d − dn| > dthr |
| DE ← add idx to list |
| break for |
| E ←E + DE |
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