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.
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: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...
arXiv:2608. 04472v1 Announce Type: cross Abstract: The development of foundation models (FMs) is crucial for advancing endoscopic image analysis.
arXiv:2608. 07116v1 Announce Type: cross Abstract: Camera localization in bronchoscopy remains a challenging problem due to stringent accuracy requirements, real-time constraints, and limited training data.
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.
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:2607. 27154v2 Announce Type: replace-cross Abstract: CT vision-language foundation models have demonstrated promising performance across downstream tasks, but are typically trained with whole-volume representations that dilute fine-grained anatomical signals.
arXiv:2607. 27154v1 Announce Type: cross Abstract: CT vision-language foundation models have demonstrated promising performance across downstream tasks, but are typically trained with whole-volume representations that dilute fine-grained anatomical signals.
The paper introduces a generalizable deformation learning framework that reconstructs 3D objects by deforming a category-level shape template to match a monocular observation. It employs a geometry-guided feature modeling mechanism to enrich foundation features with template topology, creating a geometry-aware representation that is explicitly correlated with the target observation for precise deformation. A view-adaptive feature aggregation module further bridges the gap between the fixed template and arbitrary target views by leveraging multi-view template features and camera poses, ensuring robust feature alignment across diverse viewpoints.
arXiv:2609.24187v1 Announce Type: cross Abstract: Autonomous endoscopic navigation requires the policy model to predict actions from texture-poor monocular observations, make safe control decisions,...