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. 2021 Apr 12;8:101. doi: 10.1038/s41597-021-00882-2

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© The Author(s) 2021

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Fig. 2 — Laparoscopic images representing various levels of difficulty for the tasks of medical instrument detection, binary segmentation and multi-instance segmentation. Raw input frames (a) and corresponding reference segmentation masks (b) computed from the reference contours.