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. Author manuscript; available in PMC: 2015 Aug 6.
Published in final edited form as: IEEE Trans Robot. 2015 Aug 4;31(4):1044–1053. doi: 10.1109/TRO.2015.2452776

Fig. 3.

Fig. 3

Overview of the software scheme. (a) VIS versus NIR light, demonstrating increased vein contrast in NIR light. (b) NIR image-processing steps from raw image (left) to segmented veins (right). (c) From left to right: US longitudinal segmentation, blood flow detection, and needle visualization.