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.
Algorithm 1