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The sequence of tracking results under different occlusion conditions. The images (a-f) correspond to a time sequence of images from a single trial. The cyan lines mark the best particle overlaid on the images from the left and right endoscope views. In (d), the particles were briefly “distracted” by the tool in background due to the occlusion. However, the tracking algorithm was able to recover from the occlusion in the subsequent time steps.
