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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:
+
+http://www.fmrib.ox.ac.uk/~steve/susan/index.html