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Jiwei Shan, Zeyu Cai, Yirui Li, Shing Shin Cheng and Yun-hui Liu are with the Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong. Yongbo Chen, Lijun Han and Hesheng Wang are with the School of Automation and Intelligent Sensing, the State Key Laboratory of Avionics Integration and Aviation System of-Systems Synthesis, and Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai Jiao Tong University, Shanghai 200240, China †
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Endoscopic SLAM gets a serious upgrade: deformation-aware 3D Gaussian Splatting slashes pose estimation error by up to 50% while producing higher-fidelity reconstructions.
Reconstructing surgical scenes from monocular endoscope videos with large camera motion just got a whole lot better, thanks to a new window-based approach that doesn't need stereo depth or perfect camera tracking.
