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Segmenting images into superpixels as supporting regions for feature vectors and primitives to reduce computational complexity has been commonly used as a fundamental step in various image analysis and computer vision tasks. In this paper, we describe the structure-sensitive superpixel technique by exploiting Lloyd’s algorithm with the geodesic distance. Our method generates smaller superpixels to achieve relatively low under-segmentation in structure-dense regions with high intensity or color variation, and produces larger segments to increase computational efficiency in structure-sparse regions with homogeneous appearance. We adopt geometric flows to compute geodesic distances amongst pixels. In the segmentation procedure, the density of over-segments is automatically adjusted through iteratively optimizing an energy functional that embeds color homogeneity, structure density …