A Gaussian filter is used to reduce the noise. The image is convolved with the Gaussian filter
Next is to find the edge and determine the direction and gradient. Four Sobel masks are used to find the edge gradient and the sum of all four is found and then the magnitude and angle can be found.
Using threshold value for the gradient and magnitude, the edges are filtered out
Then trace along the lines to give the canny image.
The code used in this section was created by Tom Gibara http://www.tomgibara.com/computer-vision/canny-edge-detector
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