a) [7] We want a method for corner detection for use with 3D images, i.e., there is an intensity value 1(x, y, z) for each (x, y, z) voxel. A voxel is a small 3D volumetric element similar to a pixel in 2D. Describe a generalization of either the Harris corner detector or the Tomasi -Kanade (minimum eigenvalue method) corner detector by giving the main steps of an algorithm, including a test to decide when a voxel is a corner. b) [8] Suppose that for each pixel in an input image you have its associated scene point coordinates (X,Y,Z) in the camera coordinate frame. Assume the image is of a scene that contains a single dominant plane (e.g., the front wall of a building) at unknown orientation, plus smaller numbers of other scene points (e.g., from trees, poles and a street) that are not part of this plane. As you know, the plane equation is given by aX + bY + cZ + d = 0. Define a Hough transform based algorithm for detecting the orientation of the plane in the scene. That is, define the dimensions of your Hough space, a procedure for mapping the scene points (i.e., (X, Y,Z) coordinates for each pixel) into this space, and how the plane's orientation is determined.ows