Linear Time Euclidean Distance Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
An approach to vision-based person detection in robotic applications
IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I
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A sequential algorithm is presented for computing the Euclidean distance transform of a k-dimensional binary image in time linear in the total number of voxels. The algorithm may be of practical value since it is relatively simple and easy to implement and it is relatively fast (not only does it run in linear time but the time constant is small).