The basic idea of the toolbox was sketched by Michal. I. Schlesinger and Vaclav Hlavac in June 1999. The toolbox was written by Vojtech Franc as his master thesis project supervised by Vaclav Hlavac. The project was defended in February 2000 at Czech Technical University in Prague, Faculty of Electrical Engineering, Center for Machine Perception. The toolbox is still being developed by its authors.