Probabilistic approach to the Hough transform
Image and Vision Computing
CVGIP: Image Understanding
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
Systematic Methods for the Computation of the Directional Fields and Singular Points of Fingerprints
IEEE Transactions on Pattern Analysis and Machine Intelligence
Contour Tracking by Stochastic Propagation of Conditional Density
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Development of a Compact Cable-Driven Laparoscopic Endoscope Manipulator
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
Reconstruction of Image Structure in Presence of Specular Reflections
Proceedings of the 23rd DAGM-Symposium on Pattern Recognition
Recognition by Symmetry Derivatives and the Generalized Structure Tensor
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Imaging - Special issue on multi-dimensional image processing
International Journal of Robotics Research
Laparoscopic Tool Tracking Method for Augmented Reality Surgical Applications
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
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In this paper we present a real-time tracking system of surgical instruments in laparoscopic operations. We combine Condensation tracking, with the Hough Transform in order to obtain an efficient and accurate tracking. The Condensation algorithm performs well in heavy clutter, and the Hough Transform is robust under illumination changes, occlusion and distractions. The Hough array is computed using the gradient direction image obtained by means of a Principal Component Analysis. This improves accuracy in the determination of edge orientation and speeds up computation of the Hough Transform. The experiments on image sequences of actual laparoscopic surgical operations show that the instrument tip is located even in the presence of smoke, occlusions or motion blurring.