arXiv:2411. 17790v3 Announce Type: replace-cross Abstract: Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reliable depth and pose estimation.
arXiv:2608. 07176v1 Announce Type: cross Abstract: Developing foundation generative models for endoscopy is limited by the gap between natural and clinical images and the computational cost of training large Diffusion Transformers.
arXiv:2606. 17340v1 Announce Type: cross Abstract: Accurate vision-based navigation in monocular endoscopy is difficult due to limited depth cues, weak tissue texture, non-rigid deformation, and substantial appearance variation across domains, all of which complicate pose estimation, depth prediction, and image-to-anatomy alignment.
arXiv:2507.20881v3 Announce Type: replace Abstract: Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted conside...
Monocular colonoscopic 3D reconstruction is important for surgical robotic colonoscopy, but remains challenging due to weak texture, specular reflections, limited view overlap, and non-rigid tissue mo...
arXiv:2609.23961v1 Announce Type: new Abstract: Monocular colonoscopic 3D reconstruction is important for surgical robotic colonoscopy, but remains challenging due to weak texture, specular reflectio...
arXiv:2503. 19947v2 Announce Type: replace-cross Abstract: Generalized metric depth understanding is critical for precise vision-guided robotics, which current state-of-the-art (SOTA) vision-encoders do not support.
arXiv:2606. 19451v1 Announce Type: new Abstract: We introduce 3D-DLP, a self-supervised object-centric representation learning model that decomposes scene-level RGB-D or voxel observations into a set of 3D latent particles.
EndoFSA is a GAN-based model designed for endoscopic few-shot image generation, addressing the scarcity of pathological samples in wireless capsule endoscopy (WCE) data. It adapts a generator pretrained on abundant normal images to abnormal domains by updating only a small set of rank-constrained modulation parameters while keeping the rest of the weights frozen, thereby preserving anatomical priors and preventing mode collapse. The method incorporates perceptual boundary regularization and cluster-wise diversity control, operates without pixel-level annotations, and demonstrates that synthetic abnormal images can match real images in downstream classification performance.
DART is a new RGB‑D pretraining method for surgical vision foundation models that incorporates pseudo‑labeled depth maps as a pixel‑space reconstruction target during training. By adding a depth reconstruction head to DINOv2’s masked iBOT framework, DART improves representation quality without affecting downstream RGB‑only fine‑tuning or inference. Across eight surgical benchmarks—including segmentation, depth estimation, and image‑level recognition—DART outperforms both natural‑image and in‑domain baselines, demonstrating that geometric pseudo‑labels can strengthen foundation model pretraining without extra labels or inference cost.
arXiv:2609.01276v1 Announce Type: new Abstract: Complete 3D perception from egocentric video requires recovering the surrounding scene and the wearer's full-body motion in a shared metric frame. Exis...
EndoPrior-GS is a new pipeline for dynamic endoscopic reconstruction that combines frame-extracted vision heuristics with depth maps. It creates a joint texture prior using a tool-filtered tissue mask, a non-specular photometric filter, and anatomical salience, which guides primitive initialization and density control. Experiments on EndoNeRF and SCARED datasets show that EndoPrior-GS reduces Flow Error by 27.7% and 25.8% compared to representative methods while maintaining real-time rendering speed and competitive quality.
arXiv:2608. 08135v1 Announce Type: cross Abstract: Cross-modality medical image translation can reduce the burden of multi-modal acquisitions, yet the field remains constrained by two coupled limitations: methods operate on 2D slices or 3D patches rather than whole volumes, and train a separate model for each translation task.