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. Author manuscript; available in PMC: 2014 Jan 29.
Published in final edited form as: IEEE Int Conf Robot Autom. 2013:5360–5365. doi: 10.1109/ICRA.2013.6631345

Fig. 3.

Fig. 3

Snapshots of (a) the raw video, (b) feature extraction, (c) mapping, and (d) localization of the proposed algorithm at various times during 21 s video of porcine retina. Notice that our algorithm builds up the full vessel network even with incomplete frame-to-frame detections from [24].