The initial step of vessel segmentation in 3D is the detection of vessel centerlines. The proposed methods in literature are either dependent on vessel radius and/or have low response at vessel bifurcations. In this paper we propose a 3D tubular structure detection method that removes these two drawbacks. The proposed method exploits the observations on the eigenvalues of the Hessian matrix as is done in literature, yet it employs a direct 3D vector field singularity characterization. The

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... nt Vector Flow vector field is used and the eigenvalues of its Jacobian are exploited in computing a parameter free vesselness map. Results on phantom and real patient data exhibit robustness to scale, high response at vessel bifurcations, and good noise/non-vessel structure suppression.