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...
By Zhihao Xing, Yingyu Wang, Liang Zhao, Shoudong Huang
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...
The paper presents a four‑layer hierarchical pipeline that constructs a lesion‑centered spatial record from colonoscopy videos without full‑colon 3D reconstruction. It combines a global topological map, lesion‑level spatio‑temporal tracks, on‑demand local 3D reconstruction, and persistent lesion identity across repeated observations, and evaluates the system on four public videos. The results show successful detection of revisit events, accurate lesion identity merging, and superior geometry accuracy compared to a general‑purpose foundation model.
By Hyunjun Kim, Hyeonwoo Na, Jaewoo Lee
The paper introduces GMPCR, a non‑learning spectral consistency‑guided framework for multiview point cloud registration in low‑overlap scenes. GMPCR refines initial correspondences into a second‑order compatibility structure, uses spectral analysis to filter unreliable matches and select informative scan pairs, and then applies maximal‑clique hypothesis generation for robust relative transformations. The resulting sparse pose graph is further refined with an adaptive history‑aware synchronization scheme, and a recovery mechanism allows previously down‑weighted edges to regain confidence, achieving high registration recalls on benchmark datasets while reducing computational cost.
By Tianyu Li, Yanghong Lin, Shudong Zhou, Kui Yang, Jingru Zhang, Li Fang, Wei Yao
SCOPE-4D is an endoscopic 4D geometry foundation model that predicts camera parameters, dense geometry, and 3D tissue trajectories from monocular RGB video in a single forward pass. The authors introduce SCOPE-5K, a curated dataset of about 5,000 real and synthetic gastrointestinal endoscopy and laparoscopy clips, and use it for geometric supervised fine‑tuning. Adding Common–Residual Motion (CRM) constraints and trajectory supervision further improves camera and depth estimation and enables dense 3D tissue tracking, as shown by evaluations on public and new benchmarks and a blinded user study.
By Chaoyi Zhou, Zhongpai Gao, Anwesa Choudhuri, Meng Zheng, Benjamin Planche, Run Wang, Terrence Chen, Siyu Huang, Ziyan Wu
The paper introduces PointVGGT, a zero‑shot framework for multiview RGB‑D point cloud registration that replaces the traditional pairwise‑then‑global pipeline. It employs a foundation‑then‑refinement paradigm, using visual geometry foundation models to directly recover metrically consistent global poses and then refining them with voxelized spatial hashing and IRLS‑based bundle adjustment. Experiments on indoor, object‑centric, and outdoor datasets demonstrate superior registration accuracy and computational efficiency without any training.
By Haobo Jiang, Liang Yu, Jianmin Zheng