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The search path to efficiently locate a good viewpoint. The dotted line represents the colon centerline, C is the polyp centroid, D is the nearest centerline point to C, and PN is the average normal of the polyp surface. We first locate D and extend D to B and E, the beginning and end search points. We then perform a coarse search for the optimal centerline viewpoint Pc between B and E. Finally, we refine Pc to Pf using a higher resolution search.
