D. Ballard and C. Brown, Computer Vision

Chapter 4: Boundary Detection (download)

Section 4.1: On Associating Edge Elements

Section 4.2: Searching Near and Approximate Location

Section 4.3: The Hough Method for Curve Detection

Section 4.4: Edge Following as Graph Searching

Section 4.5: Edge Following as Dynamic Programming

Section 4.6: Contour Following