SCOPE-4D: Endoscopic 4D Geometry Foundation Models

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.

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• computer-vision
• robotics
• fine-tuning
• benchmarks