We propose novel thinning conditions for grayscale 3D images that do not rely on image thresholding or segmentation. The resulting grayscale skeletonization routine extracts a topologically-consistent skeleton of curve-like features at all scales and intensities of the image. Our thinning conditions yield rich structural data that can be used to identify and delete low-contrast shape features created by blurring and noise.
Emilio R. Antúnez, Leonidas J. Guibas