Online Tracking and Retargeting with Applications to Optical Biopsy in Gastrointestinal Endoscopic Examinations

•An online detection cascade is introduced to address optical biopsy retargeting.•A random binary descriptor is proposed and used as a simple random forest classifier.•Shape context is combined with RANSAC to provide location verification for detection.•Detailed in-vivo validation showed that our framework outperforms existing trackers.