Publications of IRIS Members

Reference (inproceedings)

C. Bergeles, G. Fagogenis, J. J. Abbott, B. J. Nelson, "Tracking Intraocular Microdevices Based on Colorspace Evaluation and Statistical Color/Shape Information", Proc. IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009, pp. 3934-3939.

BibTeX entry

@INPROCEEDINGS{Bergeles_09_01,
	Author = {Christos Bergeles and G. Fagogenis and Jacob J. Abbott and Bradley J. Nelson},
	Title = {Tracking Intraocular Microdevices Based on Colorspace Evaluation and Statistical Color/Shape Information},
	Booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan},
	Year = {2009},
	Pages = {pp. 3934-3939},
	Abstract = {Successful ophtalmic surgeries using intraocular untethered microrobots or tethered robotic microtools require methods to robustly track the microdevices in the posterior of the human eye. The dimensions and specularities of the microdevices are major obstacles for accurate tracking. In addition, the optical structure of the human eye makes it challengin to keep the objects of interest constantly in focus, resulting in blurred images. In this paper, the advantages of using different colorspaces for intraocular tracking are examined. After selection of the appropriate colorspace, thresholds tha ensure maximum separation of the device from the background are calculated. Based on trained color histograms, level sets are used to track in real time, and the use of statisticl shape information is incorporated in the existing tracking framework. The efficacy of the algorithm is demonstrated by tracking a microrobot in a model eye, using a custom made ophtalmoscope and off-the-shelf ophtalmoscopy lenses. With the appropriate colorspace and threshold selection, tracking errors are minimized and are further diminished using shape information.}
}

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