Real-time segmentation of surgical instruments inside the abdominal cavity using a joint hue saturation color feature.

Christophe Doignon Pierre Graebling Michel de Mathelin Real-time segmentation of surgical instruments inside the abdominal cavity using a joint hue saturation color feature. 429-442 2005 11 Real-Time Imaging 5-6 http://dx.doi.org/10.1016/j.rti.2005.06.008 db/journals/rti/rti11.html#DoignonGM05