M. Alsheakhali, A. Eslami, A. Roodaki, N. Navab CRF-Based Model for Instrument Detection and Pose Estimation in Retinal Microsurgery Computational and Mathematical Methods in Medicine, Special issue on Machine Learning Applications in Medical Image Analysis, 2016 (bib)
	Detection of instrument tip in retinal microsurgery videos is extremely challenging due to rapid motion, illumination changes, the cluttered background and the deformable shape of the instrument. For the same reason, frequent failures in tracking add the overhead of re-initialization of the tracking. In this work, a new method is proposed to localize not only the instrument center point but also its tips and orientation without the need of manual re-initialization. Our approach models the instrument as a Conditional Random Fields (CRF) where each part of the instrument is detected separately. The relations between these parts are modeled to capture the translation, rotation and the scale changes of the instrument. The tracking is done via separate detection of instrument parts and evaluation of confidence via the modeled dependence functions. In case of low confidence feedback an automatic recovery process is performed. The algorithm is evaluated on in-vivo ophthalmic surgery datasets and its performance is comparable to the state-of-the-art methods with the advantage that no manual re-initialization is needed.
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