Tag detection and color calibration

Abstract

Certain aspects of the disclosure provide a reference tag, comprising: a fiducial marker on a first surface; and a color calibration marker on the first surface, wherein the color calibration marker comprises a plurality of color elements of a plurality of colors. In certain aspects, the reference tag may be detected in a digital image, based on obtaining the digital image comprising a depiction of a reference tag, detecting the fiducial marker within the digital image; and in response to detecting the fiducial marker within the digital image, detecting the color calibration marker within the digital image.

Description

TAG DETECTION AND COLOR CALIBRATIONCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This Application claims the benefit of and priority to U.S. Provisional Patent Application No. 63 / 699064, filed on September 25, 2024, the entire contents of which are hereby incorporated by reference.BACKGROUNDField

[0002] Aspects of the present disclosure relate to reference tags, in particular, to detectable reference tags facilitating color calibration.Description of Related Art

[0003] Object detection is a process for detecting objects in digital images and videos. Object detection may be used for detecting various objects, for example, cars, pedestrians, faces, animals, or the like. Some object detection processes utilize neural networks or other classification techniques to detect objects in an image. Objects may be detected by identifying various characteristics of an object, for example, shape, color, size, etc. In some examples, objects in an image may be identified or distinguished by color.

[0004] One problem with detecting objects based on color, however, is that coloration of objects in an image may vary based on various factors, for example, the orientation of the image sensor, lighting and direction of the lighting in an image, shadows, resolution, qualities of the image sensor, and other objects in the image. For example, the coloring of an object in an image captured under incandescent light may be different compared to the coloring of the object in an imaged captured under sunlight. As another example, the coloring of the object in an image captured with a first image capture device may be different compared to the coloring of the object in an image captured with a second image capture device due to differences in the image sensors used.

[0005] Color calibrators may be used as a reference point for one or more colors to compare the coloring of an object in an image to the color calibrator. For example, a color calibrator maybe placed near the object such that when the image is captured, the image includes both the object and the color calibrator. Then, during object detection, the coloring of the object may be compared to the coloring of the color calibrator in the image.

[0006] Even still, a color calibrator may need to be located nearby the object to ensure the color calibrator and the object are in similar conditions (e.g., lighting) that may affect the color in the image. Further, the color calibrator also may need to be visible by the image capture device, such that the color calibrator and the object are both captured in the image. In many scenarios ensuring a color calibrator is close to the object and in view of the image capture device may be difficult.

[0007] Thereby it may be beneficial to have a transient, e.g., movable, such as with respect to the image capture device, color calibrator, such that the color calibrator may be located both nearby the object and in view of the image capture device. However, a moveable color calibrator may result in the position and / or orientation of the color calibrator becoming unknown. For example, the color calibrator may become twisted, turned, or otherwise out of position, such that the position of each color of the color calibrator is not known. In particular, and as an example, a color calibrator with multiple colors that is rotated may end up with colors in rotated positions. Without knowing the color calibrator is rotated, the wrong color may be used as the reference point, and thus the color calibrator is ineffective.

[0008] Accordingly, there is a need for improved color calibrators for object detection which may facilitate determination of orientation of the color calibrator.SUMMARY

[0009] Certain aspects provide a reference tag, comprising: a fiducial marker on a first surface; and a color calibration marker on the first surface, wherein the color calibration marker comprises a plurality of color elements of a plurality of colors.

[0010] Certain aspects provide a method of color calibration, comprising: obtaining, by a processing device, a digital image comprising a depiction of a reference tag, wherein the reference tag comprises: a fiducial marker on a first surface; and a color calibration marker on the first surface, wherein the color calibration marker comprises a plurality of color elements of a plurality of colors; detecting, by the processing device, the fiducial marker within the digital image;determining, by the processing device, a first position within the digital image of the detected fiducial marker; and detecting, by the processing device, the color calibration marker within the digital image based on the first position within the digital image of the detected fiducial marker .

[0011] Other aspects provide processing systems configured to perform the aforementioned methods as well as those described herein; non-transitory, computer-readable media comprising instructions that, when executed by a processors of a processing system, cause the processing system to perform the aforementioned methods as well as those described herein; a computer program product embodied on a computer readable storage medium comprising code for performing the aforementioned methods as well as those further described herein; and a processing system comprising means for performing the aforementioned methods as well as those further described herein.

[0012] The following description and the related drawings set forth in detail certain illustrative features of one or more aspects.DESCRIPTION OF THE DRAWINGS

[0013] The appended figures depict certain aspects and are therefore not to be considered limiting of the scope of this disclosure.

[0014] FIG. 1 depicts an example object detection system.

[0015] FIG. 2 depicts an example method for detecting position and orientation of a color calibration marker for color-based object detection.

[0016] FIGS. 3A - 3Q depict various example reference tags.

[0017] FIG. 4 depicts another example reference tag.

[0018] FIG. 5 depicts another example method for detecting a color calibration marker.

[0019] FIG. 6 depicts an example processing system with which aspects of the present disclosure can be performed.

[0020] To facilitate understanding, identical reference numerals have been used, where possible, to designate identical elements that are common to the drawings. It is contemplated thatelements and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.DETAILED DESCRIPTION

[0021] Aspects of the present disclosure provide apparatuses, methods, processing systems, and computer-readable mediums for detecting a color calibration marker (also referred to as a color calibrator), such as for color based object detection in images.

[0022] As described herein, one technical problem with object detection in images, especially color based detection, is that various factors, such as the lighting of an environment captured by an image sensor, effect the coloring and visibility of the resulting image. For example, an image of an object illuminated by a bright light will have a different coloring as compared to an image of the object illuminated by dim lighting. As another example, an image of an object illuminated by one type of light (e.g., sunlight, incandescent light, fluorescent light, light emitting diode (LED) of various color temperatures, etc.) may have a different coloring as compared to an image of the object illuminated by a different type of light. In other words, lighting factors such as lighting tone, intensity, type, etc., can affect the coloring of an object in an image.

[0023] In certain scenarios, it may be beneficial to differentiate objects or identify objects based on color, shape, combination of features, etc. For example, a medical device may be detected based on color. Example medical devices which may be distinguished based on color may include a disposable medical device or a reusable medical device, such as a peripheral intravenous (IV) catheter (PIVC), a peripherally inserted central catheter (PICC), a midline catheter, a central venous catheter (CVC), a needless connector, a catheter dressing, a catheter stabilization device, a disinfecting cap, an IV tubing set, a Y connector, a stopcock, an infusion pump, a syringe pump, a flush syringe, a medication delivery syringe, an IV fluid bag, a lumen adapter, a fluid connector, or the like. Coloring of a medical device may indicate a type, an identity, or the like, of the medical device.

[0024] However, the coloring of a medical device depicted in an image may vary, for example, based on the lighting conditions of the environment captured by the image capture device, an orientation of the image capture device, distance between an object and the image capture device, other objects in the environment, resolution of an image, image type, or the like.

[0025] One method to facilitate color-based object detection utilizes a color calibrator with a reference color. The coloring of the reference color is known, for example, a true red, a true blue, a true green, etc., such that based on the depiction of the color calibrator, the other colors in the image may be determined because the reference color is in the same environment as the object and thus under the same environmental condition. For example, a red lumen adaptor may be identified with reference to a red element on the color calibrator because the lumen adaptor and the color calibrator are in the same lighting conditions and are depicted in the image with a same or similar (e.g., within a threshold color value) color.

[0026] One technical problem with using a color calibrator is determining the location of the color calibrator within the image. Often a color calibrator is placed at a pre-determined location. However, in a medical device scenario, the color calibrator may not be in a consistent predetermined location. For example, the objects in the environment, e.g., the medical devices and the medical environment may be continually changing and altering, such that a color calibrator in a consistent predetermined location may not be practical. Further, ensuring the color calibrator is placed on a smooth, flat surface in a correct orientation may also not be practical. A color calibrator on an uneven or curved surface may alter the alignment of the color calibrator, or otherwise misshapen the color elements such that portions may be misaligned or obfuscated from view of the image capture device.

[0027] Thus, there is a need for an improved color calibrator, which, when placed in various places and at various orientations within an environment, the placement and orientation of the color calibrator in an image of the environment is automatically determinable, such as for use for color based object detection.

[0028] Aspects of the present disclosure provide for such a color calibration marker where the placement and orientation of the color calibrator in an image is automatically determinable, such as for use for color based object detection. Further, aspects of the present disclosure provide techniques for automatically determining the placement and orientation of the color calibrator in an image. Further, certain aspects provide techniques for color based object detection based on the color calibrator.

[0029] For example, certain aspects provide a reference tag with a fiducial marker and a color calibration marker. The fiducial marker may be a point of reference within an image, such that thefiducial marker may be a reference point to facilitate detection of the color calibration marker. For example, by utilizing a reference tag comprising both the fiducial marker and the color calibration marker, the color calibration marker will be associated with the location of the fiducial marker.

[0030] In certain aspects, the design of the fiducial marker allows for the position and orientation of the fiducial marker in an image to be automatically determined, such as according to techniques discussed herein such as related to computer vision. Based on the position and orientation of the fiducial marker, the position and orientation of the color calibration marker may be determined. For example, a relative position and orientation of the color calibration marker with respect to the position and orientation of the fiducial marker may be fixed on the reference tag. Therefore, the relative position and orientation may be used to determine the actual position and orientation in the image of the color calibrator. For example, if the position (xf, yf) and orientation (Of) of the fiducial marker is determined in the image, and the relative position (+ xr, + yr) and orientation (+ Or) of the color calibrator on the reference tag is known, then the actual position (xf + Xr, yf + yr) and orientation (Of + Or) of the color calibration marker in the image may be determined. Thus, the color calibration marker may be readily detected, and color elements of the color calibration marker may be readily detected and used to calibrate the image for detection of other objects, including medical devices, based on color.

[0031] Certain aspects of the present disclosure further provide for various shapes, arrangements, and colors of color elements of a color calibration marker to facilitate detection of the color elements, such as even when the reference tag may be placed on uneven or curved surfaces. Moreover, the shape, arrangement, and color of the color calibration marker may be such that the features may readily be formed onto reference tags to be coupled to a medical device, or integrated with the medical device. Further, the shape, arrangement, and color of the color calibration marker may be such that the features of the color calibration marker may be readily detected by a variety of image capture devices and at various locations within the environment.Example Object Detection System

[0032] FIG. 1 depicts an example object detection system 100, which facilitates detection of objects using a color calibrator, in this example, a color calibration marker 106 on a first surface of the reference tag 102. The reference tag 102 is configured to facilitate detection of the colorcalibration marker 106 based on automatic detection of the fiducial marker 104, thereby enabling color-based object detection by the object detection system 100.

[0033] The reference tag 102 may include a tag, label, and / or the like. In some aspects, the reference tag 102 is associated with another object in the same environment, for example, coupled to, removable attached to, fixedly attached to, integrated with, etc., with the other object. In some aspects, the other object comprises one or more medical devices, for example medical device 110A, medical device HOB, medical device HOC, and medical device 110D (collectively “medical devices 110”). In some aspects, the medical devices 110 may include a disposable medical device or a reusable medical device, for example, one or more of a peripheral intravenous (IV) catheter (PIVC), a peripherally inserted central catheter (PICC), a midline catheter, a central venous catheter (CVC), a needless connector, a catheter dressing, a catheter stabilization device, a disinfecting cap, an IV tubing set, a Y connector, a stopcock, an infusion pump, a syringe pump, a flush syringe, a medication delivery syringe, an IV fluid bag, a lumen adapter, a fluid connector, a fluid line, or the like.

[0034] Beneficially, in some aspects, the reference tag 102 may comprise a relatively small tag that may be coupled to various objects in a medical environment. For example, in some aspects, the reference tag 102 may comprise a sticker or label which may be coupled to a bandage or other medical device. The reference tag 102 may then be readily placed in the environment such as to be in a field of view of an image capture device 108. Moreover, the reference tag 102 may also be placed relatively close to other medical devices 110 to be detected using object detection. Thus, the reference tag 102 may also be under similar lighting conditions as the medical devices 110, to facilitate improved color calibration.

[0035] The image capture device 108 is configured to capture an image of the reference tag 102, and one or more other objects associated with the reference tag 102, for example, one or more of the medical devices 110, one or more additional medical devices, one or more other tags, or the like in the same environment as the reference tag 102. In some aspects, the image captured by the image capture device 108 comprises a digital image.

[0036] The reference tag 102 includes a fiducial marker 104 on a first surface. The fiducial marker 104 may be a point of reference within an image, such that the fiducial marker may be a reference point to facilitate detection of color calibration marker. The fiducial marker 104 mayfurther allow for determination of the position and orientation of fiducial marker 104. In some aspects, the fiducial marker 104 may comprise one or more fiducial elements, such as to facilitate automatic determination of its position and orientation. In some aspects, the fiducial marker 104 may further identify the fiducial marker 104.

[0037] In some aspects, the image capture device 108 is a camera or other image sensor, for example, an image sensor associated with a smart device, such as a smart phone, smart tablet, smart camera, etc. In some aspects, the image capture device 108 is associated with a sentry camera, for example, a security camera, a robot, etc.

[0038] The image captured by the image capture device 108 is obtained by a reference tag detection system 112. The reference tag detection system 112 is configured to facilitate detection of a color calibrator in the image captured by the image capture device 108 based on the reference tag 102. In some aspects, the reference tag detection system 112 is configured to detect one particular type of reference tag, and therefore is configured to detect one or more fiducial markers associated with the type of reference tag, and further determine a position and orientation of one or more color calibration markers associated with the type of reference tag.

[0039] In some aspects, the reference tag detection system 112 is configured to detect multiple types of reference tags. For example, in some aspects, the reference tag detection system 112 is configured to utilize reference tag data stored in a reference tag database 120, for example, information regarding fiducial marker identities, and associated color calibration markers, which may be used on various reference tags. In particular, the reference tag database 120 may include a fiducial marker library comprising identities of the fiducial markers, for example, a library of custom tags where the fiducial markers are AprilTags, or a library of barcodes, QR codes, and / or the like, which may be used on a reference tag 102. Further, the reference tag database 120 may include data pertaining to a color calibration marker library comprising a set of standardized color calibration markers, for example, a library of various color calibration markers including color elements, shape, size, orientation, position, or the like of color calibration markers, each of which may be associated with a particular fiducial marker in the fiducial marker library.

[0040] The reference tag detection system 112 includes a fiducial marker detector 114 configured to detect the fiducial marker 104 on the reference tag 102 in the image. In some aspects, the fiducial marker 104 may further indicate a position and / or orientation of the fiducial marker104 with respect to the image capture device 108, for example, based on the digital image captured by the image capture device 108. The fiducial marker 104 may include one or more elements, such as markings, that enable computation of the position and / or orientation of the fiducial marker 104 by the fiducial marker detector 114. For example, the fiducial marker 104 may indicate a 2D position and orientation of the fiducial marker 104 in the image (e.g., an x, y, coordinate position of the fiducial marker in the image) and / or a 3D position and orientation of the fiducial marker 104 within the image (e.g., an x, y, z, coordinate position of the fiducial marker and an angle of rotation about those axes).

[0041] For example, the fiducial marker detector 114 may determine a position of the center point of the fiducial marker 104 relative to a central point of the image, which equates to a central line of sight of a view of the image capture device 108. The fiducial marker detector 114 may detect the fiducial marker 104 within the image and then automatically determine the position and / or orientation of the fiducial marker 104. In some aspects, the position of the center point of the fiducial marker 104 is determined relative to the image, e.g., a pixel distance. In some aspects, the position of the center point of the fiducial marker 104 is determined based on real world distance (e.g., distance between the fiducial marker 104 and the image capture device 108 in the environment). Further, the fiducial marker detector 114 may be configured to determine an angle of rotation of the fiducial marker 104 about x, y, or z axes relative to the central point of the image, or central line of sight of the image capture device 108. Thereby, the position and / or orientation of the fiducial marker 104 may be automatically determined by fiducial marker detector 114.

[0042] In some aspects, the fiducial marker 104 may include an AprilTag. For example, an AprilTag V3 of type customTag 48hl2 configured to be detected by the fiducial marker detector 114 using AprilTag V3 detection to determine a unique ID, which may indicate a type of the reference tag 102 comprising the fiducial marker 104. Further, the AprilTag may also indicate a position and / or orientation (e.g., x, y, and z coordinates, directional vectors for X, Y, and Z axes, etc.) of the fiducial marker 104.

[0043] In some aspects, the fiducial marker 104 may include one or more of an AprilTag, a QR code, a barcode (e.g., ID barcode, a 2D barcode, etc.), an Aztec code, a Data Matrix code, an ArUco marker, a colored pattern, a reflective pattern, a fluorescent pattern, a predetermined shape, an LED pattern, a hologram, or the like to indicate an identification, a position, and / or anorientation of the fiducial marker 104. For example, the fiducial marker detector 114 may detect the fiducial marker 104 and determine an orientation and / or rotation of the fiducial marker 104.

[0044] The reference tag detection system 112 also includes a color calibration marker detector 116 configured to detect the color calibration marker 106 on the reference tag 102 in the image. The color calibration marker 106 may include one or more color elements, for example, a grid, a cell, a stripe, or the like, with one or more colors. The color calibration marker detector 116 is configured to detect the color calibration marker 106, including the one or more color elements on the reference tag 102. In some aspects, the color calibration marker detector 116 is configured to determine a position and / or orientation of the color calibration marker 106 on the reference tag 102 based on the fiducial marker 104.

[0045] Based on the position and orientation (e.g., 2D position in the image) of the fiducial marker 104, such as determined by the fiducial marker detector 114, the color calibration marker detector 116 may detect the color calibration marker 106. For example, the fiducial marker 104 may identify the reference tag 102 from the reference tag database 120, whereby, the position and orientation of the color calibration marker 106 relative to the fiducial marker 104 is known. Then, after the fiducial marker detector 114 determines the position and orientation of the fiducial marker 104 within the image, the position and orientation of the color calibration marker 106 within the image is also determined relative to the fiducial marker 104. As an example, a reference tag comprises a fiducial marker at a first position and a color calibration marker at a second position, starting 2 mm to the right of the fiducial marker and extending for 10 mm. The fiducial marker and the color calibration marker are in the same orientation relative to the reference tag (e.g., the top of the fiducial marker and the top of the color calibration marker are both at the top of the reference tag). In the image, the fiducial marker is determined to be located at a position (x, y) and orientation (top of the marker, up). Thus, knowing the color calibration marker’s position on the reference tag (e.g., starting 2 mm to the left), the color calibration marker is located 2 mm to the left of the fiducial marker.

[0046] The color calibration marker detector 116 may determine a region of interest on the reference tag 102 where the color calibration marker 106 may be detectable (e.g., starting 2 mm to the left of the fiducial marker). Identification of the region of interest for detecting a color calibration marker is discussed in further detail with respect to step 214 of FIG. 2. The colorcalibration marker detector 116 may then detect the color calibration marker 106, including one or more color elements. Thereby, the color calibration marker 106 may be identified, including the plurality of color elements comprising the color calibration marker 106. Detection of the color calibration marker and color elements is discussed in further detail with respect to steps 216-218 of FIG. 2

[0047] Beneficially, by utilizing a fiducial marker 104, the processing time of the image to identity the calibration marker may be reduced because the fiducial marker 104 may be used to determine the position and orientation of the color calibration marker 106. Thus, rather than searching the entire image to detect the color calibration marker, the reference tag detection system 112 may identify the region of interest, such as described with respect to step 214 of FIG. 2, and detect the color calibration marker 106. Thereby, the search area is reduced and the image may be processed faster.

[0048] The reference tag detection system 112 further includes a color calibrator 118 configured to calibrate the image based on the color calibration marker 106. Color calibration, also called colorimetric calibration, involves adjusting the coloring of an image or display device. In particular, adjusting the coloring of the image before subsequent object detection facilitates improved color-based object detection. For example, based on the detected color of the color element in the image, and a reference color of the color element, a transformation between the detected and the reference color may be determined. Then, this transformation may be applied to other regions of the image.

[0049] Generally, each pixel value making up the image is represented as a color value. A color value is a mathematic representation of color, for example, represented as RGB, LAB, HSV, CMYK, or the like. The difference between the actual pixel value for a color, e.g., the detected color value of the color element, and the known pixel value for the color, e.g., a reference color value, may be determined through various transformation algorithms. In some aspects, machine learning, such as multivariate regression, polynomial algorithms, neural networks, or spline-based techniques may be used to find the transformation relationship between the actual value and the known value. Once a transformation is known, other objects may be detected based on applying transformation to the image. For example, an image may be corrected based on the transformation.

[0050] In some aspects, the actual color may be used to identify other objects with the same color, for example, a red color element may indicate “red” in the image, e.g., based on red color value or a range associated with the color value, and be used to find other “red” objects in the image based on satisfying the color value range for red.

[0051] In some aspects, the color calibrator 118 may adjust a characteristic of the image to create a corrected digital image, for example, adjust a coloring of the image to create a corrected digital image. In some aspects, the color calibration 118 may adjust a definition of a color in the image, for example, a pixel value range associated with the color.

[0052] Once the image is calibrated, image processor 122 may then detect or determine one or more other objects in the image. For example, the image processor 122 may detect one or more of the medical devices 110 based on a calibrated color, detect other fiducial markers, determine color changes in tissue of a patient, etc., in the image. Image processor 122 may then identify one or more other objects in the image, for example, other medical devices, such as infusion pumps, fluid connectors, or the like.Example Color Calibration Marker Detection Method

[0053] FIG. 2 depicts an example method 200 for detecting position and / or orientation of a color calibration marker for color-based object detection.

[0054] Initially, an image 208 is obtained, for example, from an image capture device, such as the image capture device 108 in FIG. 1. The image 208 includes a depiction of a reference tag 202, which may be an example of reference tag 102 in FIG. 1. The reference tag 202 includes a fiducial marker 204 and a color calibration marker 206 on a first surface. In some aspects, the image 208 also depicts a medical device 210. In some aspects, the image 208 depicts one or more medical devices.

[0055] At step 212, the fiducial marker 204 is detected in the image 208. The image 208 is processed to detect the fiducial marker 204, including an identity, position, and / or orientation of the fiducial marker 204 depicted in the image. The position and orientation (e.g., location and rotation) of the fiducial marker 204 with respect to the image capture device (e.g., image capture device 108 in FIG. 1) used to capture the image 208 may be determined. For example, an x, y, or z coordinate of the fiducial marker 204 relative to the center point of the image 208 and / or anestimated angle of rotation around an x, y, or z axis of the center point of the image 208 may be determined.

[0056] In some aspects, the fiducial marker 204 may be detected by detecting one or more elements of the fiducial marker 204, for example, lines, spaces, or pixels, in the image 208. In some aspects, the identity of the fiducial marker 204 may be determined based on a reference tag database 224 containing a library of fiducial markers. The reference tag database 224 may further provide an indication or identification of a color calibration marker associated with the fiducial marker. For example, each fiducial marker may be associated with a particular color calibration marker.

[0057] For example, as depicted in FIG. 4, tag 400 may be a standardized (e.g., normal position and orientation) version of reference tag 202, comprising a fiducial marker 204 on a first end of a first surface of the reference tag 202 and laterally (in this example, on the right) on a second end of the reference tag 202 is a color calibration marker 206. In this example, the color calibration marker 206 comprises 4 color elements arranged in a 2 X 2 grid, labeled color element 1, color element 2, color element 3, and color element 4. Thus, detection and identification of the fiducial marker 204 indicates a position and orientation of the color calibration marker 206 in the image 208, in this example, in the same orientation as the fiducial marker and relatively to the right based on the standardized version of the tag 400. Even where the reference tag 202 is rotated, in FIG. 4, a rotated version 450 of the reference tag 202 is depicted as rotated 90°, the rotated reference tag 202(r) retains the same relative positioning with respect to the elements of the reference tag 202. Specifically, the fiducial marker 204(r), the color calibration marker 206(r), and the color elements are also rotated 90°.

[0058] At step 214, a region of interest is identified in the image 208 based on the detected fiducial marker 204. Based on the detected fiducial marker 204 and the reference tag database 224, an associated color calibration marker may be determined, including a region of the image 208 likely to contain the color calibration marker 206. For example, the detected fiducial marker 204 may be associated with a color calibration marker comprising a 3 X 3 grid of color elements having a center point located 6 mm above the fiducial marker 204, based on the reference tag database 224. The color calibration marker may further extend 2 mm in each direction comprising the 3 X 3 grid. Thereby, the region 4 mm to 8 mm above the fiducial marker 204, and extending2 mm to the left and 2 mm to the right, may be identified as the region of interest for detecting the color calibration marker 206.

[0059] Because the fiducial marker 204 indicates position and orientation, the region of interest may be identified even where the reference tag 202 is rotated in the image 208. In the depicted example of FIG. 4, the region of interest may be identified as a region to the relative right (e.g., the center point of the color calibration marker is 5 mm to the right) of the center point of the fiducial marker 204 based on the standardized version of the tag 400. Thus, when the tag is rotated 90°, as in rotated version of the tag 450, the region of interest may be identified as below the fiducial marker 204(r), which is the relative right of the fiducial marker 204. That is, the region of interest may be 5 mm below the center point of the fiducial marker 204(r), whereby the center point of the color calibration marker 206(r) is expected.

[0060] The color calibration marker 206 may be located at a set distance from the fiducial marker 204 on the reference tag 202, such that based on the depiction of the fiducial marker 204 in the image, a region of interest may be identified as a set distance from the fiducial marker 204. For example, the color calibration marker 206 is 0.5 inches to the left of the fiducial marker 204, based on the position and orientation of the fiducial marker 204 in the image 208 and with respect to the image capture device, the location of the color calibration marker 206 may be identified (e.g., based on 0.5 inches to the relative left of the fiducial marker 204 in the environment captured).

[0061] In some aspects, one or more aspects of the color calibration marker 206 may be overlaid on one or more elements of the fiducial marker 204, for example, as depicted in FIG. 3E, and the region of interest may include the fiducial marker 204. In another example, the color calibration marker 206 may comprise one or more additional fiducial markers, for example, as depicted in FIG. 3B, the region of interest may be further identified based on the additional fiducial markers.

[0062] Thereby, at step 216, the color calibration marker 206 is identified in the image 208 within the region of interest. Continuing the previous example, the color calibration marker 206 is expected within the region of interest and may be detected, for example, with object detection. For example, one or more features of the color calibration marker 206 may be identified within the region of interest to detect the color calibration marker 206. For example, where the colorcalibration marker 206 comprises a 2 X 2 grid such as depicted in FIG. 3A, features of the color calibration marker 206 may include perpendicular corners and equal sides. In some aspects, a machine learning component is trained to detect the color calibration marker 206 in the image 208. For example, a machine learning component may be trained to classify the one or more features of the image 208 to detect the color calibration marker 206. In some aspects, the machine learning component comprises a neural network trained to detect the color calibration marker 206 based on an association between one or more of the features of the image 208.

[0063] At step 218, a color element of the color calibrator marker 206 is detected in the image 208. One or more of the color elements of a plurality of color elements comprising the color calibration marker 206 may be detected in the image 208 based on the color calibration marker 206. Based on the position and orientation of the fiducial marker 104, the position and orientation of the color calibration marker 206 may be determined, whereby the color elements of the color calibration marker 206 may be detected. For example, where the color calibration marker 206 is determined to be rotated based on the rotation of the fiducial marker 204, the color elements may also be correspondingly rotated. In the example depicted in FIG. 4, rotated version 450 is rotated 90° as compared to the standardized version 400, and thus the color elements of the color calibration marker 206(r) are also rotated 90°. Specifically, color element 1 previously occupied the top left corner of the grid (e.g., position (1, 1)), but upon rotation and capture, the color element 1 in the rotated version 450 occupies the top right corner of the grid (e.g., position (2, 1)). Further, the color element occupying the top left corner of the grid (e.g., position (1, 1)) is actually color element 3. Beneficially, because the fiducial marker 204 indicates an orientation (e.g., rotation) of the fiducial marker in addition to a position in the image 208, the orientation of the color calibration marker 206 and color elements may also be determined. Thus, where, for example, the color element 1 is red, color element 2 as blue, and color element 3 as green, the correct color element may be identified as red (e.g., color element 1), even when the color element occupies a different position on the grid.

[0064] At step 220, the image 208 is calibrated based on the detected color element. In some aspects, calibrating the image 208 comprises adjusting the coloring of the image 208 to create a corrected digital image. As described herein, in some aspects, based on the relationship between the detected color element of the image 208 and a reference color element, a transformation maybe determined. In some aspects, machine learning techniques may be used to determine the transformation. The transformation may then be applied to the remainder of the image 208 to generate a corrected digital image.

[0065] In some aspects, a characteristic of a color, for example, the color value, may be adjusted based on the detected color element. In some aspects, a range of a color value may be adjusted based on the detected color element. For example, a color element may comprise a red color and calibrating the image 208 may comprise adjusting the definition of a pixel value range for the color red to the pixel value of the red color element.

[0066] At step 222, one or more additional objects are detected in the image 208. Object detection may further be used to detect one or more additional objects in the image 208, for example, medical devices, such as a disposable medical device or a reusable medical device. Example disposable or reusable medical devices include a peripheral intravenous (IV) catheter (PI VC), a peripherally inserted central catheter (PICC), a midline catheter, a central venous catheter (CVC), a needless connector, a catheter dressing, a catheter stabilization device, a disinfecting cap, an IV tubing set, a Y connector, a stopcock, an infusion pump, a syringe pump, a flush syringe, a medication delivery syringe, an IV fluid bag, a lumen adapter, or the like. In some aspects, one or more of the one or more additional objects in the image 208 may be detected based on color, for example, an adjusted color or based on a corrected digital image. Thereby, color calibration of the image based on a color calibration marker 206 depicted in the image 208 may beneficially facilitate detection of other objects based on color.

[0067] Note that FIG. 2 is just one example of a method, and other methods including fewer, additional, or alternative operations are possible consistent with this disclosure.Example Reference Tags

[0068] FIGS. 3A-Q depict various example reference tags, for example the reference tag 102 described with respect to FIG. 1, or the reference tag 202 described with respect to FIG. 2, which may be utilized to detect a color calibration marker.

[0069] FIG. 3A depicts an example reference tag 310. The reference tag 310 includes a fiducial marker 314 and a color calibration marker 312. In this example, the fiducial marker 314comprises an AprilTag, though any suitable fiducial marker may be used. The color calibration marker 312 is located laterally to the fiducial marker 314 on a surface of the reference tag 310.

[0070] The color calibration marker 312 comprises four color elements (collectively, color elements 318), first color element 318A, second color element 318B, third color element 318C, and fourth color element 318D, depicting four colors. Though four color elements are shown, any suitable number of color elements may be used. In this example, the color elements of the color calibration marker 312 are arranged in a 2 X 2 square. In particular, a border delineates the color calibration marker 312 and each of the color elements. In some aspects, a border delineating the color calibration marker 312 and the color elements may beneficially facilitate individual identification of the color elements. For example, where the reference tag 310 is folded or otherwise obfuscated in the image such that a portion of the color calibration marker 312 may not be visible, a color calibration marker detector may identify the color calibration marker 312 based on identifying the outside border line(s). Further, the color calibration marker detector may differentiate between color elements, for example, between the first color element 318A and the second color element 318B, based on identifying the border line(s).

[0071] As described herein, determining the position and orientation of the color calibration marker 312 facilitates color calibration because the color elements of the color calibration are located in a precise position and orientation with respect to one another, such that a particular color element may be detected and used for color calibration. For example, where the color calibration marker 312 is rotated 90°, e.g., such that the color element 318A was located in the top right box of the 2 X 2 grid, the color calibration marker detector may incorrectly identify the color element 318A as color element 318B. Thus, the image may be incorrectly calibrated. By including the fiducial marker 314, the correct position and orientation of the color calibration marker 302 may be determined, such as described with respect to FIG. 2. Thereby, the image may be correctly calibrated.

[0072] FIG. 3B depicts another example reference tag 320. The reference tag 320 includes a fiducial marker 324, in this example, an AprilTag, though any suitable fiducial marker may be used, and a color calibration marker 322. Similarly to the reference tag 310 in FIG. 3A, the color calibration marker 322 includes a border to delineate four color elements, first color element 328A, second color element 328B, third color element 328C, and fourth color element 328D, ofthe color calibration marker 322. In this example, the color calibration marker 322 is overlaid with additional fiducial markers, second fiducial marker 326A, third fiducial marker 326B, fourth fiducial marker 326C, and fifth fiducial marker 326D. In this example, these additional fiducial markers comprise ArUco markers, though other fiducial markers may be used, located at each corner of the 2 X 2 grid comprising the color calibration marker 322. In this example, the same additional fiducial marker is used, however, in some examples, one or more of the additional fiducial markers may be different, for example, to indicate different locations. For example, a first additional fiducial marker may be associated with a top left comer, a second with a top right corner, a third with a bottom right corner, and a fourth with a bottom left corner. In some examples, only one additional fiducial marker may be used, for example, in one comer, and the orientation of the color calibration marker is known based on the known comer with the additional fiducial marker. In some aspects, the one or more additional fiducial markers may be overlaid one or more color elements of the color calibration marker, included on a border area of the color calibration marker, located at a center point of the color calibration marker, etc.

[0073] These additional fiducial markers may facilitate improved detection of the color calibration marker 322, for example, by identification of these additional fiducial markers (e.g., 326A, 326B, 326C, and / or 326D) to determine the position and / or orientation of the color calibration marker 322.

[0074] FIG. 3C depicts a further example reference tag 330. The reference tag 330 includes a fiducial marker 334, in this example an AprilTag, though any suitable fiducial marker may be used, adjacent to a color calibration marker 332. As described herein, the color calibration marker 332 is laterally adjacent to the fiducial marker on the reference tag 330 to facilitate detection of the color calibration marker 332 and position and orientation to determine the location of a plurality of color elements of the color calibration marker 332. In this example, four color elements, a first color element 338A, a second color element 338B, a third color element 338C, a fourth color element 338D, arranged in a 2 X 2 grid, although other arrangements are contemplated. In this example, the color calibration marker 332 also includes additional fiducial markers, namely second fiducial marker 336A, third fiducial marker 336B, fourth fiducial marker 336C, and fifth fiducial marker 336D, which may facilitate detection and identification of the color calibration marker 332.

[0075] FIG. 3D depicts another example reference tag 340 comprising a fiducial marker 334, in this example an AprilTag, though any suitable fiducial marker may be used, adjacent to a color calibration marker 342. The color calibration marker 342 includes a plurality of color elements, first color element 348A, second color element 348B, third color element 348C, and a fourth color element 348D, as well as a plurality of additional fiducial markers, second fiducial marker 346A, third fiducial marker 346B, fourth fiducial marker 346C, and fifth fiducial marker 346D to facilitate detection and identification of the color calibration marker 332.

[0076] FIG. 3E depicts a further example reference tag 350. The reference tag 350 includes a fiducial marker 354, in this example an AprilTag, though any suitable fiducial marker may be used, overlaid with a color calibration marker 352. In this example, color elements of the color calibration marker 352 fill white space between elements of the fiducial marker 354. Further, the color elements are arranged in a grid pattern to utilize the space, for example, a first color element 358A, a second color element 358B, a third color element 358C, and a fourth color element 358D form a 2 X 2 grid.

[0077] FIG. 3F depicts another example reference tag 360. The reference tag 360 includes a plurality of fiducial markers, in this example, a first fiducial marker 364A, a second fiducial marker 364B, a third fiducial marker 364C, and a fourth fiducial marker 364D. In some aspects, additional or fewer fiducial markers are contemplated. In this example, the same additional fiducial marker is used, however, in some examples, one or more of the fiducial markers may be different, for example, to indicate different locations. For example, a first additional fiducial marker may be associated with a top left corner, a second with a top right corner, a third with a bottom right comer, and a fourth with a bottom left corner. In some examples, only one additional fiducial marker may be used, for example, in one corner, and the orientation of the color calibration marker is known based on the known corner with the additional fiducial marker. In this example, each fiducial marker is an AprilTag, though any suitable fiducial marker may be used.

[0078] Each of the plurality of fiducial markers is overlaid with a color element of a color calibration marker 362. For example, a first color element 368A fills the white space of the first fiducial marker 364A, a second color element 368B fills the white space of the second fiducial marker 364B, a third color element 368C fills the white space of the third fiducial marker 364C,and a fourth color element 368D fills the white space of the fourth fiducial marker 364D. By associating each fiducial marker of the plurality of fiducial markers with a color element of the color calibration marker, the position and orientation of each color element may be determined based on the associated position and orientation of the associated fiducial marker.

[0079] FIG. 3G depicts another example reference tag 370 comprising a plurality of fiducial markers and a plurality of color elements comprising a color calibration marker 372. In this example, each fiducial marker is an AprilTag, though any suitable fiducial marker may be used. Similar to FIG. 3F, each fiducial marker of the plurality of fiducial markers is associated with a color element of the color calibration marker 372. However, in this example, the fiducial marker also comprises the color element, e.g., the fiducial marker is colored in the color of the color element rather than filling in the white space of the fiducial marker. For example, a first fiducial marker 374A is colored in the color element 378A, a second fiducial marker 374B is colored in the color element 378B, a third fiducial marker 374C is colored in the color element 378C, and a fourth fiducial marker 374D is colored in the color element 378D. Although depicted here as a 2 X 2 grid, additional or fewer fiducial markers and color elements are contemplated. Moreover, the fiducial markers and color elements may be arranged in other arrangements, for example, in a line, in a circle, or the like. Beneficially, because the color elements are associated with individual fiducial markers, the fiducial markers and color elements may be arranged in a variety of other arrangements to facilitate reference tags in a variety of shapes, for example, long and narrow reference tags, short and wide reference tags, approximately square reference tags, etc. Such variety of shapes may facilitate coupling of reference tags with a variety of devices and locations in an image. For example, larger reference tags may be coupled to larger devices and bandages, whereas smaller reference tags may be coupled to smaller devices and bandages. Similarly, long and narrow tags may be coupled to long and narrow devices and bandages, and short and wide tags may be coupled to short and wider devices and bandages.

[0080] FIG. 3H depicts another example reference tag 380 comprising a plurality of fiducial markers and a plurality of color elements of a color calibration marker. In this example, each fiducial marker is an AprilTag, though any suitable fiducial marker may be used. In this example, each color element of the color calibration marker is positioned within a center of an associated fiducial marker, including a first color element 388 A posed in the central space of a first fiducialmarker 384A, a second color element 388B posed in the central space of a second fiducial marker 384B, a third color element 388C posed in the central space of a third fiducial marker 384C, and a fourth color element 388D posed in the central space of a fourth fiducial marker 384D. In some aspects, there may be unused or blank space in a fiducial marker, for example, a central space, which does not indicate information regarding the fiducial marker. In some aspects, a color calibration marker may utilize such blank space, in this example, with a color element located in the central blank space. Because each color element is associated with a blank space of the fiducial marker, the color element’s position and orientation within the color calibration marker may be determined based on the position and orientation of the fiducial marker.

[0081] FIG. 31 depicts a further example of a reference tag 390 comprising a fiducial marker 394, in this example, an AprilTag, though any suitable fiducial marker may be used, and a color calibration marker 392. In this example, the color calibration marker 392 comprises a plurality of color elements, a first color element 398 A, a second color element 398B, a third color element 398C, a fourth color element 398D, a fifth color element 392E, a sixth color element 392F, a seventh color element 392G, an eighth color element 392H, and a ninth color element 3921. The plurality of color elements are arranged in a 3 X 3 grid, although other arrangements are contemplated. In this example, the color elements and the color calibration marker 392 include a black border, which may facilitate detection and identification of the color calibration marker 392, as well as each color element. In some aspects, the color calibration marker 392 may include a border of a different color, e.g., white, or no border at all. In some aspects, the reference tag may comprise one or more additional characters, in this example, a name 399, and an identification number 397. In some examples, the name 399 and / or identification number 397 may identify the reference tag 390 itself, identify a device coupled to the reference tag 390, or provide other identification information.

[0082] FIG. 3 J depicts an example of a reference tag 3100 including a fiducial marker 3104, an AprilTag, though any suitable fiducial marker may be used. In this example, the reference tag 3100 also includes a color calibration marker 3102 comprising three color element stripes, first stripe 3108A, second stripe 3108B, third stripe 3108C, and fourth stripe 3108D. Additional or fewer stripes may also be possible. Beneficially, the color calibration marker 3102 may comprise color element stripes to facilitate detection of the color calibration marker 3102, as well as thecolor elements. For example, the reference tag 3100 may become folded or at such an angle from the image capture sensor that the entirety of the color calibration marker 3102 is not depicted in the image. Because the color calibration marker 3102 includes striped color elements, the stripes may facilitate improved detection of the color element because a greater surface area of the stripe may be visible in the image as compared to other shapes of color elements (e.g., a square element may have less visible surface area compared to a stripe). In some aspects, striped color elements may be utilized with various shapes of reference tags, for example, a long and narrow tag may include a color calibration marker with vertical striped color elements, while a short and wide tag may include a color calibration marker with horizontal striped color elements.

[0083] Further, in the depicted example reference tag 3100, the color calibration marker 3102 includes white spaces demarcating the striped color elements, e.g., between the first color element stripe 3108 A and the second color element stripe 3108B, and between the second color element stripe 3108B and the third color element stripe 3108C. Such spaces may facilitate detection of the individual color elements, for example, by increasing a distance between two color elements, adding a visual cue between color elements, or the like. In some aspects, the color calibration marker 3102 may include a black border between and surrounding the color elements.

[0084] FIG. 3K depicts an example reference tag 3110 comprising a fiducial marker 3114, an AprilTag, though any suitable fiducial marker may be used, and a color calibration marker 3112. The color calibration marker 3112 includes a plurality of color elements, a first color element 3118 A, a second color element 3118B, and a third color element 3118C, arranged in a triangular shape, although other shapes are contemplated. The plurality of color elements are separated by a blank space, for example, between the first color element 3118A and the second color element 3118B, between the first color element 3118A and the third color element 3118C, and between the second color element 3118B and the third color element 3118C. In some aspects, the blank space may be or include a black border between the plurality of color elements and defining the color calibration marker 3112.

[0085] FIG. 3L depicts another example reference tag 3120 comprising a fiducial marker 3124, an AprilTag, though any suitable fiducial marker may be used, in between a plurality of color elements of a color calibration marker 3122. In this example, the color elements of the color calibration marker 3122 are located surrounding the fiducial marker 3124. For example, a firstcolor element 3128A and a second color element 3128B are disposed on a first side of the fiducial marker 3124, and a third color element 3128C and a fourth color element 3128D are disposed on an opposing side of the fiducial marker 3124. In some aspects, the third color element 3128C and the fourth color element 3128D are disposed on a third or fourth side of the fiducial marker 3124, for example, in a wider and shorter reference tag, or other variant.

[0086] Beneficially, disposing the color elements of the color calibration marker 3122 around the fiducial marker 3124, the linear distance between the fiducial marker 3124 and each of the color elements is minimized. Where the reference tag 3120 is coupled to a curved surface, such as part of a bandage or curved device, from the perspective of the image capture sensor, some portions of the reference tag 3120 may not be visible or harder to detect. By reducing the linear distance between the fiducial marker 3124 and the color elements, the color elements may be readily detected. Further, the shape, size, and / or arrangement of the color elements may further facilitate detection. For example, the first color element 3128A comprises a first portion 3128A(1) at a fixed viewing area relative to the fiducial marker 3124 enabling viewing by the image capture sensor at a substantially straight viewing perspective. The first color element 3128A may further comprise a second portion 3128A(2) beneficially increasing the size of the color element and shaping the color element such that the color element may be viewed by the image capture sensor when the image capture sensor is at an angled view, and / or when the reference tag 3120 is coupled to a curved device. Thereby, the size, shape, and / or arrangement of the plurality of color elements of the color calibration marker may facilitate improved capture by an image capture device, such as to improve the depiction of the color calibration marker in a captured image. Further, aspects of the color elements may also facilitate improved detection of the color element within the image.

[0087] For example, in FIG. 3M an example reference tag 3130 is depicted. The reference tag 3130 is substantially similar to the reference tag 3120 depicted in FIG. 3L, however, the reference tag 3130 further includes borders surrounding each of the color elements to improve demarcation and delineation of each color element. In some aspects, adding a border to the color calibration marker 3132 may allow for further minimizing the distance between the fiducial marker 3134 and the color calibration marker 3132, and each of the color elements, first color element 3138A, second color element 3138B, third color element 3138C, and fourth color element3138D. In this example, the fiducial marker 3144 is an AprilTag, though any suitable fiducial marker may be used.

[0088] FIG. 3N depicts another example reference tag 3140 with a fiducial marker 3144, an AprilTag, though any suitable fiducial marker may be used, centrally located on the reference tag 3140, surrounded by a plurality of color elements of a color calibration marker 3142. In this example, the color elements are substantially striped, each with a first portion on a first side of the fiducial marker 3144, for example a first portion of a first color element 3148A(1), a first portion of a second color element 3148B(1), and a first portion of a third color element 3148C(1) on a first side. On a second side of the fiducial marker 3144 (in this example, an opposing side), a second portion of the first color element 3148A(2), a second portion of the second color element 3148B(2), and a second portion of the third color element 3148C(2) are depicted. As described herein, a stripe shape of a color element may beneficially provide increased surface area for viewing by an image capture device, even where the reference tag may become twisted, or otherwise obfuscated, for example, by coupling to a curved device. The color calibration marker 3142 may further include borders, blank space, or the like to improve demarcation and delineation of the color elements.

[0089] Although depicted in FIG. 3N as substantially straight stripes, in some aspects, each color element may comprise a circular or arc shaped stripe. For example, the color calibration marker 3142 may comprise a plurality of concentrically stack striped color elements, such as to substantially surround the fiducial marker 3144. The color elements may be located at varying radii from a central point of the fiducial marker 3144. In some aspects, white space or black borders may further delineate the color elements of the color calibration marker 3142.

[0090] In some aspects, the color elements may be different shapes, for example, a circular or arc shaped stripe. The color elements may be detected additionally based on shape. Beneficially then, the color elements may be more quickly detected due to additional detecting based on shape.

[0091] In some aspects, the fiducial marker may comprise a different shape, for example, a circular shape. In some aspects, the fiducial marker is substantially the same shape as the color calibration marker. In some aspects, the fiducial marker is a different shape from the color calibration marker. In some aspects, detection of one or more of the fiducial marker, the color calibration marker, or one or more of the color elements is further based on a shape or a patternof shapes associated with the marker. Thereby, detection may be improved, for example, increased accuracy, or reduced detection time because of the additional features used for detection.

[0092] FIG. 30 depicts another example reference tag 3150 comprising a fiducial marker 3154, in this example an AprilTag, though any suitable fiducial marker may be used, and a color calibration marker 3152. In this example, the color calibration marker 3152 comprises three horizontally striped color elements. Specifically, a first color element 3158A is located at a first linear distance from the central axis (e.g., x axis) of the fiducial marker 3154, a second color element 3158B is located at a second linear distance from the central axis of the fiducial marker 3154, and the third color element 3158C is located at a third linear distance from the central axis of the fiducial marker 3154. Such horizontal striping of the color elements may further facilitate viewing of the color calibration marker 3152 by an image capture device, for example, where the reference tag is coupled to a curved or otherwise irregularly shaped device or substrate.

[0093] FIG. 3P depicts another example reference tag 3160, in this example, comprising a fiducial marker 3164, an AprilTag, though any suitable fiducial marker may be used, and a color calibration marker 3162. The color calibration marker 3162 comprises a 2 X 2 grid of color elements, first color element 3168 A, second color element 3168B, third color element 3168C, and fourth color element 3168D. In this example, the size and arrangement of the color elements of the color calibration marker 3162 facilitates an increased number of color elements (e.g., from three to four).

[0094] FIG. 3Q depicts a further example reference tag 3170 comprising a fiducial marker 3174, an AprilTag, though any suitable fiducial marker may be used, and a color calibration marker 3172. In this example, the color calibration marker 3172 comprises a set of four horizontally striped color elements, a first color element 3178 A at a first linear distance from the fiducial marker 3174, a second color element 3178B at a second linear distance from the fiducial marker 3174, a third color element 3178C at a third linear distance from the fiducial marker 3174, and a fourth color element 3178D at a fourth linear distance from the fiducial marker 3174. In this example, a black border is disposed between each color element to demarcate and delimitate the different color elements.

[0095] In some aspects, the colors of each of the color elements may vary based on a use of a reference tag, for example, a device or substrate for which the reference tag may be coupled, anenvironment of the device or substrate, the other medical devices to be detected, or the like. For example, a reference tag to be used in a neonatal intensive care unit (NICU) may comprise a color calibration marker with a first set of color elements while a reference tag to be used in an adult ICU may comprise a color calibration marker with a second set of color elements. The first set of color elements may correspond to medical devices of the NICU, while the second set of color elements may correspond to medical devices of the adult intensive care unit (ICU). As another example, the shape, arrangement, and orientation of the first set of color elements may facilitate a smaller reference tag to be used in an NICU, for example, on a smaller patient, on a smaller device, etc., while the shape, arrangement, and orientation of the second set of color elements may facilitate a larger reference tag to be used in an adult ICU.

[0096] Although depicted here as various example reference tags, elements from one or more of the example reference tags may be beneficially combined, added, or removed to facilitate a reference tag comprising at least one fiducial marker and at least one color calibration marker with at least one color element for calibration of images. Moreover, though certain shapes and designs are shown herein for each of the fiducial markers and color calibration markers, such as color elements, other shapes and designs may be utilized. For example, each color element of the color calibration marker may be of any shape, size, or position relative to a fiducial marker.Example Method of Detection of Color Calibration Markers

[0097] FIG. 5 depicts an example method 500 of color detecting a color calibration marker, for example, using reference tag detection system 112 described with respect to FIG. 1.

[0098] Initially, method 500 begins at step 502 with obtaining an image comprising a depiction of a reference tag, wherein the reference tag comprises: a fiducial marker on a first surface; and a color calibration marker on the first surface, wherein the color calibration marker comprises a plurality of color elements of a plurality of colors.

[0099] In some aspects, the reference tag further comprises at least one additional fiducial marker. In some aspects, the reference tag further comprises at least one additional color calibration marker. In some aspects, the fiducial marker is overlaid on at least one color element of the plurality of color elements. In some aspects, the reference tag further comprises a pluralityof fiducial markers including the fiducial marker, wherein each of the plurality of fiducial markers comprises one of the plurality of color elements.

[0100] In some aspects, each color element of the plurality of color elements comprises one of a plurality of fiducial markers, the plurality of fiducial markers including the fiducial marker. In some aspects, wherein the color calibration marker is disposed laterally to the fiducial marker on the first surface. In some aspects, one or more of the plurality of color elements of the color calibration marker are disposed laterally to the fiducial marker on the first surface.

[0101] In some aspects, the color calibration marker further comprises a boundary line demarcating each color element of the plurality of color elements. In some aspects, the color calibration marker comprises a grid formed by the plurality of color elements.

[0102] In some aspects, each color element of the plurality of color elements of the color calibration marker comprises a respective stripe. In some aspects, the respective stripe of at least one color element of the plurality of color elements comprises a curved stripe.

[0103] In some aspects, the reference tag is coupled to a medical device. In some aspects, the reference tag is integral to a medical device. In some aspects, the fiducial marker comprises a two- dimensional line code.

[0104] In some aspects, the reference tag further comprises at least one additional fiducial marker, and the at least one additional fiducial marker is overlaid on at least a portion of the color calibration marker.

[0105] Method 500 proceeds to step 504 with detecting the fiducial marker within the image, for example, as described with respect to step 212 of FIG. 2. In some aspects, detecting the color calibration marker within the image based on the first position within the image of the detected fiducial marker, comprises: identifying a region of interest within the image based on the first position; and detecting the color calibration marker within the region of interest.

[0106] Method 500 then proceeds to step 506 with determining a first position within the image of the detected fiducial marker, for example, as described with respect to step 214 of FIG. 2.

[0107] Method 500 then proceeds to step 508 with detecting the color calibration marker within the image based on the first position within the image of the detected fiducial marker, for example, as described with respect to step 216 of FIG. 2.

[0108] In some aspects, method 500 further comprises determining a first orientation within the image of the detected fiducial marker, wherein detecting the color calibration marker within the image further comprises: determining a second orientation of the color calibration marker within the image based on the first orientation.

[0109] In some aspects, method 500 further comprises: determining a first color value of a color element of the plurality of color elements in the image; comparing the first color value with a reference color value associated with the color element; and color calibrating the image based on a difference between the first color value and the reference color value to create a corrected digital image.

[0110] In some aspects, method 500 further comprises: detecting one or more objects in the corrected digital image; and identifying one or more objects in the corrected digital image based on a color associated with each object of the one or more objects.[OHl] In some aspects, method 500 further comprises: determining a color value of a color element of the plurality of color elements in the image; and determining a color value range associated with a color associated with the color element. In some aspects, method 500 further comprises: detecting one or more objects in the image based on the color value range associated with the color; and identifying one or more objects in the image based on a color associated with each of the one or more objects and the color value range associated with the color element.

[0112] In some aspects, the one or more objects in the corrected digital image comprise a medical device. In some aspects, the one or more objects in the corrected digital image comprise a fluid line associated with an infusion pump. In some aspects, the one or more objects in the corrected digital image comprise a fluid connector associated with an infusion pump. In some aspects, the one or more objects in the corrected digital image comprise a portion of a patient.

[0113] Note that FIG. 5 is just one example of a method, and other methods including fewer, additional, or alternative operations are possible consistent with this disclosure.Example Computing Device

[0114] FIG. 6 depicts an example computing device 600, such as a medical device, which implements various features and processes described herein, such as objection detection system 100 in FIG. 1. For example, the computing device 600 may perform one or more steps of any ofmethod 200 or method 500. The computing device 600 may include one or more processors 604, one or more memories 606, one or more input components 610, one or more output components 612, and one or more communication interfaces 608. Each of these components may be coupled by a bus 602.

[0115] Computing device 600 may perform these processes based on one or more processors 604 executing software instructions stored by a computer-readable medium, such as one or more memories 606. In certain aspects, one or more processors 604 may be programmed / designed / configured to perform these processes. A computer-readable medium (e.g., a non-transitory computer-readable medium) is defined herein as a non-transitory memory device. A memory device includes memory space located inside of a single physical storage device or memory space spread across multiple physical storage devices. Software instructions may be read into one or more memories from another computer-readable medium or from another device via communication interface 608. When executed, software instructions stored in one or more memories may cause one or more processors 604 to perform one or more processes described herein.

[0116] A memory 606 may include data storage or one or more data structures (e.g., a database, etc.). Computing device 600 may be capable of receiving information from, storing information in, communicating information to, or searching information stored in the data storage or one or more data structures in one or more memories 606.

[0117] A memory 606 may include random access memory (RAM), read only memory (ROM), and / or other types of dynamic or static storage devices (e.g., flash memory, magnetic memory, optical memory, etc.), that stores information and / or instructions for use by one or more processors 604. For example, a memory 606 may include all forms of non-volatile memory, including by way of example semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks such as internal hard disks and removable disks; magnetooptical disks; and CD-ROM and DVD-ROM disks.

[0118] One or more memories 606 may include an obtaining component 614 configured to obtain digital image data comprising, for example, an image 208 described with respect to FIG. 2. In some aspects, image data may be stored as image data 624. Image data 624 may include imagedata captured by a camera, an image capture device, an image sensor, a smart device, a video camera, or the like.

[0119] One or more memories 606 may further include a detection component 618 configured to detect objects in image data 624. For example, detection component 618 may be configured to detect a fiducial marker, a reference tag, a color calibration marker, or the like in image data 624. In some aspects, detection component 618 is further configured to detect one or more other obj ects in image data 624, for example, a disposable medical device or a reusable medical device, such as a peripheral intravenous (IV) catheter (PIVC), a peripherally inserted central catheter (PICC), a midline catheter, a central venous catheter (CVC), a needless connector, a catheter dressing, a catheter stabilization device, a disinfecting cap, an IV tubing set, a Y connector, a stopcock, an infusion pump, a syringe pump, a flush syringe, a medication delivery syringe, an IV fluid bag, a lumen adapter, a fluid connector, or the like.

[0120] One or more memories 606 may also include an identification component 616 configured to identify objects in image data 624, for example, objects detected by detection component 618. In some aspects, identification component 616 is configured to identify objects in image data 624 based on standardized objects and identifiers stored as reference tag data 626. In some aspects, identification component 616 is configured to identify regions of interest within image data 624, identify color elements of a calibration marker detected within image data 624, or the like.

[0121] One or more memories 606 may include a calibration component 620 configured to calibrate digital image data 624 based on detected objects, including a color calibration marker in digital image data 624. For example, calibration component 620 may generate a corrected digital image based on the color calibration marker. As another example, calibration component 620 may adjust one or more characteristics of the digital image data 624 based on the color calibration marker, such as a defined pixel value range for a color.

[0122] One or more memories 606 may include a determination component 622 configured to determine a first position within the digital image of detected objects, for example, a fiducial marker detected by detection component 618.

[0123] One or more processors 604 may include a processor (e.g., a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), etc.), amicroprocessor, a digital signal processor (DSP), and / or any processing component (e.g., a field- programmable gate array (FPGA), an application-specific integrated circuit (ASIC), etc.), that may be programmed to perform a function, such as described herein.

[0124] One or more input components 610 may include a component that permits computing device 600 to receive information, such as via user input (e.g., a touch screen display, a keyboard, a keypad, a mouse, a button, a switch, a microphone, etc.). Further, one or more input components 610 may include a sensor for sensing information (e.g., a global positioning system (GPS) component, an accelerometer, a gyroscope, an actuator, etc.).

[0125] One or more output components 612 may include a component that provides output information from computing device 600 (e.g., a display, a speaker, one or more light-emitting diodes (LEDs), etc.).

[0126] Communication interface 608 may include a transceiver-like component (e.g., a transceiver, a separate receiver and transmitter, etc.) that enables computing device 600 to communicate with other devices, such as via a wired connection, a wireless connection, or a combination of wired and wireless connections. Communication interface 608 may permit computing device 600 to receive information from another device and / or provide information to another device. For example, communication interface 608 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi interface, a cellular network interface, and / or the like.Example Clauses

[0127] Implementation examples are described in the following numbered clauses:

[0128] Clause 1 : A reference tag, comprising: a fiducial marker on a first surface; and a color calibration marker on the first surface, wherein the color calibration marker comprises a plurality of color elements of a plurality of colors.

[0129] Clause 2: The reference tag of clause 1, wherein: a position and an orientation of the color calibration marker is indicated by the fiducial marker.

[0130] Clause 3: The reference tag of any one of clauses 1-2, further comprising at least one additional fiducial marker.

[0131] Clause 4: The reference tag of any one of clauses 1-3, further comprising at least one additional color calibration marker.

[0132] Clause 5: The reference tag of any one of clauses 1-4, wherein the fiducial marker is overlaid on at least one color element of the plurality of color elements.

[0133] Clause 6: The reference tag of any one of clauses 1-5, comprising a plurality of fiducial markers including the fiducial marker, wherein each of the plurality of fiducial markers comprises one of the plurality of color elements.

[0134] Clause 7: The reference tag of any one of clauses 1-5, wherein each color element of the plurality of color elements comprises one of a plurality of fiducial markers, the plurality of fiducial markers including the fiducial marker.

[0135] Clause 8: The reference tag of any one of clauses 1-7, wherein the color calibration marker is disposed laterally to the fiducial marker on the first surface.

[0136] Clause 9: The reference tag of any one of clauses 1-7, wherein one or more of the plurality of color elements of the color calibration marker are disposed laterally to the fiducial marker on the first surface.

[0137] Clause 10: The reference tag of any one of clauses 1-9, wherein the color calibration marker further comprises a boundary line demarcating each color element of the plurality of color elements.

[0138] Clause 11 : The reference tag of any one of clauses 1-10, wherein the color calibration marker comprises a grid formed by the plurality of color elements.

[0139] Clause 12: The reference tag of any one of clauses 1-10, wherein each color element of the plurality of color elements of the color calibration marker comprises a respective stripe.

[0140] Clause 13: The reference tag of clause 12, wherein the respective stripe of at least one color element of the plurality of color elements comprises a curved stripe.

[0141] Clause 14: The reference tag of any one of clauses 1-13, wherein the reference tag is coupled to a medical device.

[0142] Clause 15: The reference tag of any one of clauses 1-13, wherein the reference tag is integral to a medical device.

[0143] Clause 16: The reference tag of any one of clauses 1-15, wherein the fiducial marker comprises a two-dimensional line code.

[0144] Clause 17: The reference tag of any one of clauses 1-16, further comprising at least one additional fiducial marker, wherein the at least one additional fiducial marker is overlaid on at least a portion of the color calibration marker.

[0145] Clause 18: A method of detecting a color calibrator, comprising: obtaining, by a processing device, an digital image comprising a depiction of a reference tag, wherein the reference tag comprises: a fiducial marker on a first surface; and a color calibration marker on the first surface, wherein the color calibration marker comprises a plurality of color elements of a plurality of colors; detecting, by the processing device, the fiducial marker within the digital image; determining, by the processing device, a first position within the image of the detected fiducial marker; and detecting, by the processing device, the color calibration marker within the digital image based on the first position within the digital image of the detected fiducial marker.

[0146] Clause 19: The method of clause 18, wherein detecting, by the processing device, the color calibration marker within the digital image based on the first position within the digital image of the detected fiducial marker, comprises: identifying, by the processing device, a region of interest within the digital image based on the first position; and detecting, by the processing device, the color calibration marker within the region of interest.

[0147] Clause 20: The method of any one of clauses 18-19, further comprising determining, by the processing device, a first orientation within the digital image of the detected fiducial marker, wherein detecting the color calibration marker within the digital image further comprises: determining, by the processing device, a second orientation of the color calibration marker within the digital image based on the first orientation.

[0148] Clause 21 : The method of any one of clauses 18-20, further comprising: determining, by the processing device, a first color value of a color element of the plurality of color elements in the digital image; comparing, by the processing device, the first color value with a reference color value associated with the color element; and color calibrating, by the processing device, thedigital image based on a difference between the first color value and the reference color value to create a corrected digital image.

[0149] Clause 22: The method of clause 21, further comprising: detecting, by the processing device, one or more objects in the corrected digital image; and identifying, by the processing device, one or more objects in the corrected digital image based on a color associated with each object of the one or more objects.

[0150] Clause 23: The method of clause 22, wherein the one or more objects in the corrected digital image comprise a medical device.

[0151] Clause 24: The method of any one of clauses 22-23, wherein the one or more objects in the corrected digital image comprise a fluid line associated with an infusion pump.

[0152] Clause 25: The method of any one of clauses 22-24, wherein the one or more objects in the corrected digital image comprise a fluid connector associated with an infusion pump.

[0153] Clause 26: The method of any one of clauses 22-25, wherein the one or more objects in the corrected digital image comprise a portion of a patient.

[0154] Clause 27: The method of any one of clauses 18-22, further comprising: determining, by the processing device, a color value of a color element of the plurality of color elements in the digital image; and determining, by the processing device, a color value range associated with a color associated with the color element.

[0155] Clause 28: The method of clause 27, further comprising: detecting, by the processing device, one or more objects in the digital image based on the color value range associated with the color; and identifying, by the processing device, one or more objects in the digital image based on a color associated with each of the one or more objects and the color value range associated with the color element.

[0156] Clause 29: The method of clause 28, wherein the one or more objects in the digital image comprise a medical device.

[0157] Clause 30: The method of any one of clauses 28-29, wherein the one or more objects in the digital image comprise a fluid line associated with an infusion pump.

[0158] Clause 31 : The method of any one of clauses 28-30, wherein the one or more objects in the digital image comprise a fluid connector associated with an infusion pump.

[0159] Clause 32: The method of any one of clauses 28-31, wherein the one or more objects in the digital image comprise a portion of a patient.

[0160] Clause 33: The method of any one of clauses 18-32, wherein the reference tag further comprises at least one additional fiducial marker.

[0161] Clause 34: The method of any one of clauses 18-33, wherein the reference tag further comprises at least one additional color calibration marker.

[0162] Clause 35: The method of any one of clauses 18-34, wherein the fiducial marker is overlaid on at least one color element of the plurality of color elements.

[0163] Clause 36: The method of any one of clauses 18-35, wherein the reference tag further comprises a plurality of fiducial markers including the fiducial marker, wherein each of the plurality of fiducial markers comprises one of the plurality of color elements.

[0164] Clause 37: The method of any one of clauses 18-36, wherein each color element of the plurality of color elements comprises one of a plurality of fiducial markers, the plurality of fiducial markers including the fiducial marker.

[0165] Clause 38: The method of any one of clauses 18-37, wherein the color calibration marker is disposed laterally to the fiducial marker on the first surface.

[0166] Clause 39: The method of any one of clauses 18-37, wherein one or more of the plurality of color elements of the color calibration marker are disposed laterally to the fiducial marker on the first surface.

[0167] Clause 40: The method of any one of clauses 18-39, wherein the color calibration marker further comprises a boundary line demarcating each color element of the plurality of color elements.

[0168] Clause 41 : The method of any one of clauses 18-40, wherein the color calibration marker comprises a grid formed by the plurality of color elements.

[0169] Clause 42: The method of any one of clauses 18-40, wherein each color element of the plurality of color elements of the color calibration marker comprises a respective stripe.

[0170] Clause 43 : The method of clause 42, wherein the respective stripe of at least one color element of the plurality of color elements comprises a curved stripe.

[0171] Clause 44: The method of any one of clauses 18-43, wherein the reference tag is coupled to a medical device.

[0172] Clause 45: The method of any one of clauses 18-43, wherein the reference tag is integral to a medical device.

[0173] Clause 46: The method of any one of clauses 18-45, wherein the fiducial marker comprises a two-dimensional line code.

[0174] Clause 47: The method of any one of clauses 18-46, wherein the reference tag further comprises at least one additional fiducial marker, and the at least one additional fiducial marker is overlaid on at least a portion of the color calibration marker.

[0175] Clause 48: A processing system, comprising: a memory comprising computerexecutable instructions; and a processor configured to execute the computer-executable instructions and cause the processing system to perform a method in accordance with any one of clauses 18-47.

[0176] Clause 49: A processing system, comprising means for performing a method in accordance with any one of clauses 18-47.

[0177] Clause 50: A non-transitory computer-readable medium storing program code for causing a processing system to perform the steps of any one of clauses 18-47.

[0178] Clause 51 : A computer program product embodied on a computer-readable storage medium comprising code for performing a method in accordance with any one of clauses 18-47.

[0179] Clause 52: A medical device comprising the reference tag of any one of clauses 1-17.

[0180] Clause 53: A medical device system for detecting a color calibrator, comprising: one or more memories comprising computer-executable instructions; and one or more processors configured to execute the computer-executable instructions and cause the medical device system to perform a method in accordance with any one of clauses 18-47.Additional Considerations

[0181] The preceding description is provided to enable any person skilled in the art to practice the various embodiments described herein. The examples discussed herein are not limiting of the scope, applicability, or embodiments set forth in the claims. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments. For example, changes may be made in the function and arrangement of elements discussed without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For instance, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Also, features described with respect to some examples may be combined in some other examples. For example, an apparatus may be implemented or a method may be practiced using any number of the aspects set forth herein. In addition, the scope of the disclosure is intended to cover such an apparatus or method that is practiced using other structure, functionality, or structure and functionality in addition to, or other than, the various aspects of the disclosure set forth herein. It should be understood that any aspect of the disclosure disclosed herein may be embodied by one or more elements of a claim.

[0182] As used herein, the word “exemplary” means “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects.

[0183] As used herein, a phrase referring to “at least one of’ a list of items refers to any combination of those items, including single members. As an example, “at least one of: a, b, or c” is intended to cover a, b, c, a-b, a-c, b-c, and a-b-c, as well as any combination with multiples of the same element (e.g., a-a, a-a-a, a-a-b, a-a-c, a-b-b, a-c-c, b-b, b-b-b, b-b-c, c-c, and c-c-c or any other ordering of a, b, and c). Reference to an element in the singular is not intended to mean only one unless specifically so stated, but rather “one or more.” For example, reference to an element (e.g., “a processor,” “a memory,” etc.), unless otherwise specifically stated, should be understood to refer to one or more elements (e.g., “one or more processors,” “one or more memories,” etc.). The terms “set” and “group” are intended to include one or more elements, and may be used interchangeably with “one or more.” Where reference is made to one or more elements performing functions (e.g., steps of a method), one element may perform all functions, or more than oneelement may collectively perform the functions. When more than one element collectively performs the functions, each function need not be performed by each of those elements (e.g., different functions may be performed by different elements) and / or each function need not be performed in whole by only one element (e.g., different elements may perform different subfunctions of a function). Similarly, where reference is made to one or more elements configured to cause another element (e.g., an apparatus) to perform functions, one element may be configured to cause the other element to perform all functions, or more than one element may collectively be configured to cause the other element to perform the functions. Unless specifically stated otherwise, the term “some” refers to one or more.

[0184] As used herein, the term “determining” encompasses a wide variety of actions. For example, “determining” may include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Also, “determining” may include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Also, “determining” may include resolving, selecting, choosing, establishing and the like.

[0185] The methods disclosed herein comprise one or more steps or actions for achieving the methods. The method steps and / or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is specified, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims. Further, the various operations of methods described above may be performed by any suitable means capable of performing the corresponding functions. The means may include various hardware and / or software component(s) and / or module(s), including, but not limited to a circuit, an application specific integrated circuit (ASIC), or processor. Generally, where there are operations illustrated in figures, those operations may have corresponding counterpart means-plus-function components with similar numbering.

[0186] The following claims are not intended to be limited to the embodiments shown herein, but are to be accorded the full scope consistent with the language of the claims. Within a claim, reference to an element in the singular is not intended to mean “one and only one” unless specifically so stated, but rather “one or more.” Unless specifically stated otherwise, the term “some” refers to one or more. No claim element is to be construed under the provisions of 37U.S.C. §112(f) unless the element is expressly recited using the phrase “means for” or, in the case of a method claim, the element is recited using the phrase “step for.” All structural and functional equivalents to the elements of the various aspects described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the claims. Moreover, nothing disclosed herein is intended to be dedicated to the public regardless of whether such disclosure is explicitly recited in the claims.

Claims

1. CLAIMS1. A reference tag, comprising: a fiducial marker on a first surface; and a color calibration marker on the first surface, wherein the color calibration marker comprises a plurality of color elements of a plurality of colors.

2. The reference tag of claim 1, wherein: a position and an orientation of the color calibration marker is indicated by the fiducial marker.

3. The reference tag of any one of claims 1-2, further comprising at least one additional fiducial marker.

4. The reference tag of any one of claims 1-3, further comprising at least one additional color calibration marker.

5. The reference tag of any one of claims 1-4, wherein the fiducial marker is overlaid on at least one color element of the plurality of color elements.

6. The reference tag of any one of claims 1-5, comprising a plurality of fiducial markers including the fiducial marker, wherein each of the plurality of fiducial markers comprises one of the plurality of color elements.

7. The reference tag of any one of claims 1-5, wherein each color element of the plurality of color elements comprises one of a plurality of fiducial markers, the plurality of fiducial markers including the fiducial marker.

8. The reference tag of any one of claims 1-7, wherein the color calibration marker is disposed laterally to the fiducial marker on the first surface.

9. The reference tag of any one of claims 1-7, wherein one or more of the plurality of color elements of the color calibration marker are disposed laterally to the fiducial marker on the first surface.

10. The reference tag of any one of claims 1-9, wherein the color calibration marker further comprises a boundary line demarcating each color element of the plurality of color elements.

11. The reference tag of any one of claims 1-10, wherein the color calibration marker comprises a grid formed by the plurality of color elements.

12. The reference tag of any one of claims 1-10, wherein each color element of the plurality of color elements of the color calibration marker comprises a respective stripe.

13. The reference tag of claim 12, wherein the respective stripe of at least one color element of the plurality of color elements comprises a curved stripe.

14. The reference tag of any one of claims 1-13, wherein the reference tag is coupled to a medical device.

15. The reference tag of any one of claims 1-13, wherein the reference tag is integral to a medical device.

16. The reference tag of any one of claims 1-15, wherein the fiducial marker comprises a two-dimensional line code.

17. The reference tag of any one of claims 1-16, further comprising at least one additional fiducial marker, wherein the at least one additional fiducial marker is overlaid on at least a portion of the color calibration marker.

18. A method of detecting a color calibrator, comprising: obtaining, by a processing device, a digital image comprising a depiction of a reference tag, wherein the reference tag comprises: a fiducial marker on a first surface; and a color calibration marker on the first surface, wherein the color calibration marker comprises a plurality of color elements of a plurality of colors; detecting, by the processing device, the fiducial marker based on an analysis of pixels of the digital image;determining, by the processing device, a first position within the digital image of the detected fiducial marker; and detecting, by the processing device, the color calibration marker within the digital image based on the first position within the digital image of the detected fiducial marker.

19. The method of claim 18, wherein detecting, by the processing device, the color calibration marker within the digital image based on the first position within the digital image of the detected fiducial marker, comprises: identifying, by the processing device, a region of interest within the digital image based on the first position; and detecting, by the processing device, the color calibration marker within the region of interest.

20. The method of any one of claims 18-19, further comprising determining, by the processing device, a first orientation within the digital image of the detected fiducial marker, wherein detecting, by the processing device, the color calibration marker within the digital image further comprises: determining, by the processing device, a second orientation of the color calibration marker within the digital image based on the first orientation.

21. The method of any one of claims 18-20, further comprising: determining, by the processing device, a first color value of a color element of the plurality of color elements in the digital image; comparing, by the processing device, the first color value with a reference color value associated with the color element; and color calibrating, by the processing device, the digital image based on a difference between the first color value and the reference color value to create a corrected digital image.

22. The method of claim 21, further comprising: detecting, by the processing device, one or more objects in the corrected digital image; andidentifying, by the processing device, the one or more objects in the corrected digital image based on a color associated with each object of the one or more objects.

23. The method of claim 22, wherein the one or more objects in the corrected digital image comprise a medical device.

24. The method of any one of claims 22-23, wherein the one or more objects in the corrected digital image comprise a fluid line associated with an infusion pump.

25. The method of any one of claims 22-24, wherein the one or more objects in the corrected digital image comprise a fluid connector associated with an infusion pump.

26. The method of any one of claims 22-25, wherein the one or more objects in the corrected digital image comprise a portion of a patient.

27. The method of any one of claims 18-22, further comprising: determining, by the processing device, a color value of a color element of the plurality of color elements in the digital image; and determining, by the processing device, a color value range associated with a color associated with the color element.

28. The method of claim 27, further comprising: detecting, by the processing device, one or more objects in the digital image based on the color value range associated with the color; and identifying, by the processing device, the one or more objects in the digital image based on a color associated with each of the one or more objects and the color value range associated with the color element.

29. The method of claim 28, wherein the one or more objects in the digital image comprise a medical device.

30. The method of any one of claims 28-29, wherein the one or more objects in the digital image comprise a fluid line associated with an infusion pump.

31. The method of any one of claims 28-30, wherein the one or more objects in the digital image comprise a fluid connector associated with an infusion pump.

32. The method of any one of claims 28-31, wherein the one or more objects in the digital image comprise a portion of a patient.

33. The method of any one of claims 18-32, wherein the reference tag further comprises at least one additional fiducial marker.

34. The method of any one of claims 18-33, wherein the reference tag further comprises at least one additional color calibration marker.

35. The method of any one of claims 18-34, wherein the fiducial marker is overlaid on at least one color element of the plurality of color elements.

36. The method of any one of claims 18-35, wherein the reference tag further comprises a plurality of fiducial markers including the fiducial marker, wherein each of the plurality of fiducial markers comprises one of the plurality of color elements.

37. The method of any one of claims 18-36, wherein each color element of the plurality of color elements comprises one of a plurality of fiducial markers, the plurality of fiducial markers including the fiducial marker.

38. The method of any one of claims 18-37, wherein the color calibration marker is disposed laterally to the fiducial marker on the first surface.

39. The method of any one of claims 18-37, wherein one or more of the plurality of color elements of the color calibration marker are disposed laterally to the fiducial marker on the first surface.

40. The method of any one of claims 18-39, wherein the color calibration marker further comprises a boundary line demarcating each color element of the plurality of color elements.

41. The method of any one of claims 18-40, wherein the color calibration marker comprises a grid formed by the plurality of color elements.

42. The method of any one of claims 18-40, wherein each color element of the plurality of color elements of the color calibration marker comprises a respective stripe.

43. The method of claim 42, wherein the respective stripe of at least one color element of the plurality of color elements comprises a curved stripe.

44. The method of any one of claims 18-43, wherein the reference tag is coupled to a medical device.

45. The method of any one of claims 18-43, wherein the reference tag is integral to a medical device.

46. The method of any one of claims 18-45, wherein the fiducial marker comprises a two-dimensional line code.

47. The method of any one of claims 18-46, wherein the reference tag further comprises at least one additional fiducial marker, and the at least one additional fiducial marker is overlaid on at least a portion of the color calibration marker.

48. A medical device comprising the reference tag of any one of claims 1-17.

49. A medical device system for detecting a color calibrator, comprising: one or more memories comprising computer-executable instructions; and one or more processors configured to execute the computer-executable instructions and cause the medical device system to perform a method in accordance with any one of claims 18-47.

Images