Endoscopic 3D Reconstruction

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22 papers2 papers in the last four weeks, down 60% on the four weeks before. 0.0% of all new papers.

iMED: A Multi-Endoscope Dataset for Surgical 3D Perception
Nov 3, 2026Sierra Bonilla, Fengyi Jiang, Chinedu Nwoye +73D Reconstruction Benchmarks Endoscopic 3D Reconstruction
University College London, London WC1E 6BT, United Kingdom · Advanced Research, Intuitive, Sunnyvale, CA 94086, USA
EndoS3:Endoscopic Semantic Splatting SLAM
Nov 3, 2026Mona Sheikh Zeinoddin, Benjamin Wright, Zafer Tandogdu +3Simultaneous Localization and Mapping 3D Semantic Mapping
Hawkes Institute, University College London, UK. · Dept of Urology, University College London Hospitals, UK.
4D Triangle Splatting Reconstruction of Dynamic Endoscopic Scenes from Monocular Videos
Nov 1, 2026Laura Salort-Benejam, Stamatia Giannarou, Antonio Agudo4D Reconstruction Dynamic Scene Reconstruction
Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain · Imperial College London, London, United Kingdom
Dense Endoluminal Mapping and Localisation from Monocular Bronchoscopy
Oct 12, 2026Salvatore Esposito, Matias Mattamala, Daniel Rebain +4Simultaneous Localization and Mapping Endoscopic 3D Reconstruction
University of Edinburgh · University of British Columbia
SCOPE-4D: Endoscopic 4D Geometry Foundation Models
Oct 1, 2026Chaoyi Zhou, Zhongpai Gao, Anwesa Choudhuri +6Endoscopic 3D Reconstruction Endoscopy
United Imaging Intelligence, Boston, MA, USA · Clemson University, Clemson, SC, USA
EndoPrior-GS: Dynamic Endoscopic Reconstruction with a Joint Texture Prior
Sep 29, 2026Jiaqi Huang, Shidong Wang, Tong Xin +13D Gaussian Splatting Medical Imaging
School of Engineering, Newcastle University, Newcastle upon Tyne NE1 7RU, UK · School of Computing, Newcastle University, Newcastle upon Tyne NE4 5TG, UK
Endo-TSR: Temporal Spectral Modeling of Appearance and Motion for Endoscopic Reconstruction
Sep 26, 2026Taoyu Wu, Yiyi Miao, Qi Shao +4Endoscopic 3D Reconstruction 3D Reconstruction
Academy of Artificial Intelligence and Advanced Technology, Xi’an Jiaotong-Liverpool University, China · School of Computer Science and Informatics, University of Liverpool, United Kingdom · Hong Kong University of Science and Technology (Guangzhou), China +1
Colon3R: Cross-Domain 3D Reconstruction from Monocular Colonoscopic Video
Sep 21, 2026Zhihao Xing, Yingyu Wang, Liang Zhao +1Domain Adaptation 3D Reconstruction
Lesion-centered 3D mapping of colonoscopy procedures: validation of a hierarchical ensemble pipeline on public benchmark videos
Sep 15, 2026Hyunjun Kim, Hyeonwoo Na, Jaewoo LeeEndoscopy 3D Reconstruction
School of Computing, KAIST, Daejeon, Republic of Korea · Clinical Imaging Research Institute, Seoul, Republic of Korea · Division of Mechanical and Space Engineering, Faculty of Engineering, Hokkaido University, Sapporo, Japan +1
Endo-NeRF++: Uncertainty-Aware Neural Rendering with Multi-Resolution Hash Encoding for Dynamic Surgical Scene Reconstruction
Jul 30, 2026Gousia Habib, Laura Ruotsalainen3D Reconstruction Neural Rendering
Department of Computer Science, University of Helsinki, Finland
ExtraGS: Enhancing Endoscopic View Extrapolation via Diffusion-Guided 3D Gaussian Splatting
Jul 14, 2026Cheng-Tai Hsieh, Jiwei Shan, Han Fang +63D Gaussian Splatting Endoscopy
School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, and the Shanghai Key Laboratory of Navigation and Location-Based Services, Shanghai, China · Department of Mechanical and Automation Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong · Global College, Shanghai Jiao Tong University, Shanghai, China +1
C3VD-DEFCOL: A Deformable Colonoscopy Dataset with Time-Resolved 3D Ground Truth and Realistic Appearance
Jun 5, 2026Ethan Luk, Mayank V. Golhar, Anthony Song +5Endoscopy 3D Reconstruction
Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD, USA · Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, Zaragoza, Spain · Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA
SCARED-C: Corrected Camera Poses for Endoscopic Depth Estimation
May 15, 2026John J. Han, Adam Schmidt, Max Allan +2Endoscopy Depth Estimation
Vanderbilt University Nashville, TN, USA · Intuitive Surgical, Inc. Sunnyvale, CA, USA
EndoVGGT: GNN-Enhanced Depth Estimation for Surgical 3D Reconstruction
Mar 25, 2026Falong Fan, Yi Xie, Arnis Lektauers +2Endoscopic 3D Reconstruction 3D Reconstruction
University of Arizona, Tucson, AZ, USA
SurgCUT3R: Surgical Scene-Aware Continuous Understanding of Temporal 3D Representation
Mar 7, 2026Kaiyuan Xu, Fangzhou Hong, Daniel Elson +13D Reconstruction Endoscopic 3D Reconstruction
The Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK. · S-Lab, College of Computing and Data Science, Nanyang Technological University, Singapore 639798. · Department of Computer Science, University of Liverpool, L69 7ZX, UK.
ColonSplat: Reconstruction of Peristaltic Motion in Colonoscopy with Dynamic Gaussian Splatting
Mar 6, 2026Weronika Smolak-Dyżewska, Joanna Kaleta, Diego Dall'Alba +1Dynamic Gaussian Splatting Endoscopic 3D Reconstruction
Jagiellonian University, Kraków, Poland · Warsaw University of Technology, Poland · Sano Centre for Computational Medicine, Kraków, Poland +2
The Dresden Dataset for 4D Reconstruction of Non-Rigid Abdominal Surgical Scenes
Mar 3, 2026Reuben Docea, Rayan Younis, Yonghao Long +103D Reconstruction 4D Reconstruction
Department of Translational Surgical Oncology, National Center for Tumor Diseases (NCT), NCT/UCC Dresden, a partnership between DKFZ, Faculty of Medicine and University Hospital Carl Gustav Carus, TUD Dresden University of Technology, and Helmholtz-Zentrum Dresden-Rossendorf (HZDR), Dresden, Germany · Department of Translational Surgical Oncology, NCT/UCC Dresden, Faculty of Medicine and University Hospital Carl Gustav Carus, TUD Dresden University of Technology, Fetscherstraße 74, 01307 Dresden, Germany · Department for Visceral, Thoracic and Vascular Surgery, Faculty of Medicine and University Hospital Carl Gustav Carus, Technische Universität Dresden, Dresden, Germany +2
Monocular Endoscopic Tissue 3D Reconstruction with Multi-Level Geometry Regularization
Feb 24, 2026Yangsen Chen, Hao WangEndoscopic 3D Reconstruction 3D Reconstruction
HKUST(GZ)
4D Monocular Surgical Reconstruction under Arbitrary Camera Motions
Feb 19, 2026Jiwei Shan, Zeyu Cai, Cheng-Tai Hsieh +54D Reconstruction 3D Reconstruction
Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong. · Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China · State Key Laboratory of Robotics and Intelligent Systems, Shenyang, China +3
NeRFscopy: Neural Radiance Fields for in-vivo Time-Varying Tissues from Endoscopy
Feb 17, 2026Laura Salort-Benejam, Antonio AgudoEndoscopic 3D Reconstruction 3D Reconstruction
Institut de Rob`otica i Inform`atica Industrial, CSIC-UPC, Spain
ColonAdapter: Geometry Estimation Through Foundation Model Adaptation for Colonoscopy
Nov 27, 2025Zhiyi Jiang, Yifu Wang, Xuelian Cheng +1Endoscopic 3D Reconstruction Vision Foundation Model Adaptation
School of Computer Science and Engineering, Southeast University, China · Vetex Lab, Shanghai, China · Southeast University - Monash University Joint Graduate School, Suzhou 215123, China +3
Online camera-pose-free stereo endoscopic tissue deformation recovery with tissue-invariant vision-biomechanics consistency
Jun 24, 2025Jiahe Chen, Naoki Tomii, Ichiro Sakuma +1Endoscopy 3D Reconstruction
School of Engineering, The University of Tokyo, Tokyo, 113-8656, Japan

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iMED: A Multi-Endoscope Dataset for Surgical 3D Perception

Sierra Bonilla, Fengyi Jiang, Chinedu Nwoye, Jingpei Lu+6

University College London, London WC1E 6BT, United Kingdom · Advanced Research, Intuitive, Sunnyvale, CA 94086, USA

3D Reconstruction Benchmarks Endoscopic 3D Reconstruction Robotic Endoscopy Novel View Synthesis Object Pose Estimation

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We introduce iMED, the first synchronized multi-endoscope dataset for robot-assisted minimally invasive surgery (RAMIS), designed to address a fundamental limitation in surgical vision benchmarking: the absence of independent held-out viewpoints. Existing surgical datasets capture single-trajectory sequences from a single endoscope, making it impossible to distinguish geometric generalization from photometric interpolation along a narrow forward-facing path. iMED provides 340 sequences ~170K synchronized timepoints with 4 views per timepoint) recorded simultaneously from two independent stereo endoscopes across ex vivo, postmortem, and live surgical settings, spanning 14 specimens with diverse anatomical regions and motion regimes. The dataset includes calibrated camera intrinsics, ArUco-based frame-wise pose estimates with uncertainty quantification, instrument segmentation masks, and rich clinical metadata. Using a train-on-one-endoscope, test-on-another evaluation protocol, we benchmark 23 state-of-the-art methods across rigid and deformable novel view synthesis, pose estimation, feature matching, and monocular depth estimation. Our experiments show that methods relying primarily on photometric supervision degrade substantially under this held-out-endoscope setting, while methods with explicit geometric regularization are more robust across views in our benchmark. Notably, large-scale foundation models transfer surprisingly well to surgical imagery, often outperforming domain-specific models, suggesting pitfalls in current fine-tuning protocols. iMED establishes a new evaluation protocol for geometric generalization in surgical vision.