Begin Algorithm: compute-curve-skeleton

Input: the original object volume O

Output: curve skeleton S

Initialize a root voxel o as the current skeleton S and the current marked object volume Omarked

While new branches are found

Detect disconnected sub-trees T1, T2, T3, ··· in the unmarked object volume O − Omarked

For each sub-tree Ti

Find the CMB voxel vi ∈ Ti that is farthest from Omarked

If the potential branch from vi to Omarked is significant

Add a new skeletal branch Bi joining vi to the current skeleton S using a minimum cost path

Augment S = S ∪ Bi

Compute local scale-adaptive dilatation Di along Bi

Augment Omarked = Omarked ∪ Di

End Algorithm: compute-curve-skeleton