Robert's operator is a non-linear filter to detect the presence of lines in an image. It work son a ecah 2x2 portion of the scence and is defined as the sum of the absolute differences between opposing corners:
G(x,y) = | f(x,y) − f(x+1,y-1) | + | f(x+1,y) − f(x,y-1) |$
Defined on page 251
Used on pages 251, 252, 253