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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: Nat Mach Intell. 2020 Oct 12;2(10):595–606. doi: 10.1038/s42256-020-00231-9

Extended Data Fig. 2 – Example of lumen detection algorithm.

Extended Data Fig. 2 –

where (a) is the original MFE image and (b) is the segmented centre of the colon and (c) is the centre mass point of the lumen (xl, yl) which will be steered to the centre of image (xC, yC) and (d) represents the change in linear velocity of the MFE, given the distance between the estimated lumen (xl, yl) and centre of image (xC, yC).