1. A method of extracting at least one coronary artery centerline from a 3D volume, comprising: segmenting heart chambers in the 3D volume; initializing a coronary artery centerline in the 3D volume for at least a portion of at least one coronary artery based on the segmented heart chambers; locally refining points of the coronary artery centerline; shrinking a length of the coronary artery centerline to verify that the coronary artery centerline is within the at least one coronary artery; and extending the coronary artery centerline using vessel tracing.