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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. 3 – Feature detector for autonomous navigation.

Extended Data Fig. 3 –

The action of the autonomous controller is dependent on the absence, or presence of a lumen. When no clear lumen is present in the MFE image (Extended data Fig. 3–a), the FAST feature detector will return a low number of features, with a feature defined as a discernible edge in the image. Features are shown here as green circles. When a clear lumen is present in the MFE image (Extended data Fig. 3–b), the FAST feature detector will instead return a high number of features.