Figure 3. 3a: Original image pair overlapped with predicted windows; 3b: Edge detection using directional masks; 3c: Edge thinning; 
3d: Detection of vertically oriented edges; 3e: Line segments detected with the length longer than 50 pixels. The line segment pointed 
by an arrow is verified as a part of an object and reconstructed using the multinocular line reconstruction algorithm. 
7A-4-7