A method of imaging an object includes obtaining an image data set from a raster scan. The image data set has a plurality of data points, each data point having an associated location and intensity; generating a reduced data set by selectively removing one or more data points from the image data set based upon an assigned probability of retaining the one or more data points in the data set, the assigned probability being a function of the intensity of a data point; generating a triangulation graph as a planar subdivision having faces that are triangles, the vertices of which are the data points and the edges of which are adjacent vertices; and segmenting the triangulated data set by finding a path with lowest cost between that vertex and every other vertex, wherein the cost is a function of the respective intensity of the vertices.