CRF-Based Model for Instrument Detection and Pose Estimation in Retinal Microsurgery

Figure 2

(a) Target pose estimation; (b) the factor graph for the forceps: 4 variables (left (L), right (R), center (C), and shaft (S)) are used with different types of constraints that are presented with different edge colors: black (translation), green (rotation), red (relative length), and blue (consistency).

(a)

(b)