http://www.mathworks.com/matlabcentral/fileexchange/29510-canny-edge-detection
http://blog.sina.com.cn/s/blog_3eec0ced0100hnsi.html
http://robotics.eecs.berkeley.edu/~sastry/ee20/index.html
http://www.mathworks.com/matlabcentral/fileexchange/20899-canny-edge-detection
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