%* Last edited: Sep 24 17:32 1995 (misha)

\begin{figure}[htbp]
\begin{tabbing}
GRADIENT MAGNITUDE ALGORITHM \\
\\
iii \= \kill
\> for \= every pixel in a 3x3 window about the smoothed depth image \\
\> \> increment x magnitude by depth * x mask value \\
\> \> increment y magnitude by depth * y mask value \\
\\
\> compute square of gradient magnitude = delx * delx + dely * dely \\
\> compute boolean edges map of (magnitude squared $>$ threshold squared) \\
\> output edges \\
\\
END GRADIENT MAGNITUDE 
\end{tabbing}
\caption{Algorithmic description for Gradient Magnitude.}
\label{fig:grad-mag-alg}
\end{figure}