| Input: Starting and ending pixels, and |
| Output: Motion path from to |
| (1) Set starting pixel as ; // Starting pixel |
| (2) Set ending pixel as ; // Ending pixel |
| (3) A certain proportion of accessible pixels are converted into inaccessible ones; |
| (4) Add into Possible Path Location (PPL) set; |
| (5) Initialize Existing Path Location (EPL) as an empty set; |
| (6) ; // Current pixel |
| (7) while is not equal to do |
| (8) for (each adjacent pixel around , ) // Pixel traversal |
| (9) if is an inaccessible pixel then |
| (10) Continue; |
| (11) else if belongs to EPL set then |
| (12) Continue; |
| (13) else if is neither in EPL set nor in PPL set then |
| (14) Add into PPL set; |
| (15) Set as the father pixel of ; |
| (16) Calculate the Euclidean distance from to , ; |
| (17) Calculate the Manhattan distance from to , ; |
| (18) Set ; |
| (19) else if belongs to PPL set then |
| (20) Calculate the distance from to , ; |
| (21) ; |
| (22) If then |
| (23) ; |
| (24) ; |
| (25) Set as the father pixel of ; |
| (26) end if |
| (27) end if |
| (28) end for |
| (29) Add into EPL set; |
| (30) Remove from PPL set; |
| (31) Update with the pixel with the smallest value in PPL set; |
| (32) end while |
| (33) ; // Initialize traversal pixel |
| (34) Add into set Trace as the 1st pixel; |
| (35) ; |
| (36) while is not equal to |
| (37) Add the father pixel of into Trace as -th pixel; |
| (38) ; |
| (39) ← Father pixel of ; |
| (40) end while |
| (41) Consecutively connect the pixels in Trace as the constructed motion path. |
