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For an image withn pixels stored in a √n × √n mesh-of-processors, anO(√n)-time algorithm is described in F. Dehne, A.-L. Hassenklover, and J.-R. Sack, “Computing the configuration space for a robot on a mesh-of-processors”,Parallel Computing, Vol. 12, 1989, pp. 221–231.
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Dehne, F. Editor's foreword special issue on parallel algorithms for geometric problems on digitized pictures. Algorithmica 6, 621–623 (1991). https://doi.org/10.1007/BF01759064
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DOI: https://doi.org/10.1007/BF01759064