Robust Visual Tracking for Retinal Mapping in Computer-Assisted Slit-Lamp Imaging

The slit lamp device is a very popular equipment for inspecting the human retina due to its magnification, stereoscopy and easy control. In this context, computer assistance can provide information overlay to surgeons, improving navigation, accuracy and safety in procedures where the slit-lamp is used. Toward this goal, we describe a robust method for tracking and mapping the human retina using slit-lamp images. Inspired in [1], the proposed method is essentially a direct visual tracking method using local illumination compensation, as well as an efficient pixel selection scheme for achieving fast tracking speeds. In this paper, we describe a novel forward-backward strategy for achieving superior tracking resilience. Experiments conducted on several human patients confirm the practical value of the system.