Abstract
In this paper, we aim to develop a criterion to select scale parameters, which control pre-smoothing for edge detection. We first formalise the Canny edge detector which extracts the zeros of bilinear form of the first- and the second-order derivatives of image intensity. Then, we show the bifurcation property of the edge curves at the singular points in the linear scale space. Finally using the scale space hierarchy of the singular point, we derive a criterion to select scale parameters for edge detection.
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