A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiresolution Color Image Segmentation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Automatic tracking of laparoscopic instruments by color coding
CVRMed-MRCAS '97 Proceedings of the First Joint Conference on Computer Vision, Virtual Reality and Robotics in Medicine and Medial Robotics and Computer-Assisted Surgery
Reconstruction of Image Structure in Presence of Specular Reflections
Proceedings of the 23rd DAGM-Symposium on Pattern Recognition
Color Edge Detection by Photometric Quasi-Invariants
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Structure Preserving Noise Filtering of Images Using Explicit Local Segmentation
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 2 - Volume 2
Generalized selection weighted vector filters
EURASIP Journal on Applied Signal Processing
A hierarchical approach to color image segmentation using homogeneity
IEEE Transactions on Image Processing
Color image enhancement via chromaticity diffusion
IEEE Transactions on Image Processing
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Segmentation and guidance of multiple rigid objects for intra-operative endoscopic vision
WDV'05/WDV'06/ICCV'05/ECCV'06 Proceedings of the 2005/2006 international conference on Dynamical vision
3D tracking of laparoscopic instruments using statistical and geometric modeling
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part I
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Particle filtering in the Hough space for instrument tracking
Computers in Biology and Medicine
Feature classification for tracking articulated surgical tools
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
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In this paper, the real-time segmentation of surgical instruments with color images used in minimally invasive surgery is addressed. This work has been developed in the scope of the robotized laparoscopic surgery, specifically for the detection and tracking of gray regions and accounting for images of metallic instruments inside the abdominal cavity. With this environment, the moving background due to the breathing motion, the non-uniform and time-varying lighting conditions and the presence of specularities are the main difficulties to overcome. Then, to achieve an automatic color segmentation suitable for robot control, we developed a technique based on a discriminant color feature with robustness capabilities with respect to intensity variations and specularities. We also designed an adaptive region growing with automatic region seed detection and a model-based region classification, both dedicated to laparoscopy. The foreseen application is a good training ground to evaluate the proposed technique and the effectiveness of this work has been demonstrated through experimental results with endoscopic image sequences to efficiently locate boundaries of a landmark-free needle-holder at half the video-rate.