Implementing side fill ,top most point modules in matlab

Hi everyone, I am trying to make obstacle avoidance robot using computer vision.As apart of it want to implement side fill, top point location modules( which are provided in Roborealm software,used in the process of obstacle avoidance) in Mat Lab.please help me regarding implementation of these modules like algo for these two modules so that by following it i can implement it in matlab.Thanx in advance.