@article{canny1986,
  title={A Computational Approach to Edge Detection},
  author={John Canny},
  year={1986},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  doi={10.1109/tpami.1986.4767851},
  url={https://doi.org/10.1109/tpami.1986.4767851}
}