Added an initial version of a texton module that represents the appea… #1692
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…rance of an image with a texton distribution. In past work, we have used texton distributions for instance for obstacle detection. If the entropy of the texton distribution becomes low, this is typically an indication of a close obstacle. This "appearance variation cue" can be a good complement to using optical flow measurements for obstacle avoidance. There are may other uses for texton distributions though, while they are computationally quite cheap.