| Begin: |
| γ is the value of rotation; ε is a given tiny value; β is a |
| value that is larger than ε (we assume that β=10ε); “M” is |
| defined as half of the pixel width value of current image. |
| A current captured image is scanned by the node. |
| The node generates a random number marked with |
| RAND in the range of [−1, +1]. |
| A. If it cannot identify any “Video Event”{ |
| ; |
| GOTO B; |
| } |
| If a “Video Event” occurs { |
| ; |
| Calculate the current ACV; |
| ; |
| If , GOTO End; |
| Else GOTO B; |
| } |
| B. If RAND > 0 |
| The perceptive direction of node is |
| counterclockwise adjusted for γ; |
| Else{ |
| Counterclockwise rotates for γ; GOTO A; |
| } |
| End. |