Penalized-distance volumetric skeleton algorithm

Introduces a refined general definition of a skeleton that is based on a penalized distance function and that cannot create any of the degenerate cases of the earlier CEASAR (Center-line Extraction Algorithm-Smooth, Accurate and Robust) and TEASAR (Tree-structure Extraction Algorithm for Skeletons-Accurate and Robust) algorithms. Additionally, we provide an algorithm that finds the skeleton accurately and rapidly. Our solution is fully automatic, which frees the user from having to engage in manual data pre-processing. We present the accurate skeletons computed on a number of test data sets. The algorithm is very efficient, as demonstrated by the running times, which were all below seven minutes.