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Stereo Correspondence and Reconstruction of Endoscopic Data Challenge

arXiv 2101.01133 ↗First posted 4 Jan 2021cs.CVcited by 101

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Abstract (arXiv)

The stereo correspondence and reconstruction of endoscopic data sub-challenge was organized during the Endovis challenge at MICCAI 2019 in Shenzhen, China. The task was to perform dense depth estimation using 7 training datasets and 2 test sets of structured light data captured using porcine cadavers. These were provided by a team at Intuitive Surgical. 10 teams participated in the challenge day. This paper contains 3 additional methods which were submitted after the challenge finished as well as a supplemental section from these teams on issues they found with the dataset.

Key facts. Cited by 101 papers in the map (data through 7 Oct 2026). Builds on 11 of its 26 references that are in the map. First posted on arXiv 4 Jan 2021.

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11 of 26 references.

References · 11

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  3. 2017PWC-Net: CNNs for Optical Flow Using Pyramid, Warping, and Cost Volumecited by 966
  4. 2015A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimationcited by 878
  5. 2019Group-wise Correlation Stereo Networkcited by 235
  6. 2019Hierarchical Deep Stereo Matching on High-resolution Imagescited by 126
  7. 2019DeepPruner: Learning Efficient Stereo Matching via Differentiable PatchMatchcited by 114
  8. 2018Deep Depth Completion of a Single RGB-D Imagecited by 110
  9. 2017Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgerycited by 34
  10. 2018Self-supervised Learning for Dense Depth Estimation in Monocular Endoscopycited by 13
  11. 2017Endoscopic Depth Measurement and Super-Spectral-Resolution Imagingcited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 5; 2022: 9; 2023: 13; 2024: 26; 2025: 31; 2026: 17.

101 papers.

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  1. 2024A Survey on 3D Gaussian Splattingcited by 221
  2. 2022Colonoscopy 3D Video Dataset with Paired Depth from 2D-3D Registrationcited by 78
  3. 2021Self-Supervised Monocular Depth and Ego-Motion Estimation in Endoscopy: Appearance Flow to the Rescuecited by 70
  4. 2023EndoSurf: Neural Surface Reconstruction of Deformable Tissues with Stereo Endoscope Videoscited by 68
  5. 2024IGEV++: Iterative Multi-range Geometry Encoding Volumes for Stereo Matchingcited by 55
  6. 2024Surgical-DINO: Adapter Learning of Foundation Models for Depth Estimation in Endoscopic Surgerycited by 52
  7. 2023Learning How To Robustly Estimate Camera Pose in Endoscopic Videoscited by 49
  8. 2024Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splattingcited by 43
  9. 2023Tracking and Mapping in Medical Computer Vision: A Reviewcited by 36
  10. 2021Self-Supervised Generative Adversarial Network for Depth Estimation in Laparoscopic Imagescited by 21
  11. 2024LGS: A Light-weight 4D Gaussian Splatting for Efficient Surgical Scene Reconstructioncited by 21
  12. 2024EndoGaussian: Real-time Gaussian Splatting for Dynamic Endoscopic Scene Reconstructioncited by 20
38 more
  1. 2024Free-SurGS: SfM-Free 3D Gaussian Splatting for Surgical Scene Reconstructioncited by 20
  2. 2022Self-Supervised Depth Estimation in Laparoscopic Image using 3D Geometric Consistencycited by 19
  3. 2024EndoSparse: Real-Time Sparse View Synthesis of Endoscopic Scenes using Gaussian Splattingcited by 16
  4. 2023Surgical Tattoos in Infrared: A Dataset for Quantifying Tissue Tracking and Mappingcited by 15
  5. 2023SurgT challenge: Benchmark of Soft-Tissue Trackers for Robotic Surgerycited by 14
  6. 2025Endo3R: Unified Online Reconstruction from Dynamic Monocular Endoscopic Videocited by 14
  7. 2024Transferring Relative Monocular Depth to Surgical Vision with Temporal Consistencycited by 13
  8. 2024HFGS: 4D Gaussian Splatting with Emphasis on Spatial and Temporal High-Frequency Components for Endoscopic Scene Reconstructioncited by 13
  9. 2024EndoOmni: Zero-Shot Cross-Dataset Depth Estimation in Endoscopy by Robust Self-Learning from Noisy Labelscited by 12
  10. 2021Stereo Dense Scene Reconstruction and Accurate Localization for Learning-Based Navigation of Laparoscope in Minimally Invasive Surgerycited by 11
  11. 2022A Survey on RGB-D Datasetscited by 11
  12. 2024MonoPCC: Photometric-invariant Cycle Constraint for Monocular Depth Estimation of Endoscopic Imagescited by 10
  13. 2022Deep Laparoscopic Stereo Matching with Transformerscited by 9
  14. 2023WS-SfMLearner: Self-supervised Monocular Depth and Ego-motion Estimation on Surgical Videos with Unknown Camera Parameterscited by 9
  15. 2024DARES: Depth Anything in Robotic Endoscopic Surgery with Self-supervised Vector-LoRA of the Foundation Modelcited by 8
  16. 2024UC-NeRF: Uncertainty-aware Conditional Neural Radiance Fields from Endoscopic Sparse Viewscited by 8
  17. 2022Bidirectional Semi-supervised Dual-branch CNN for Robust 3D Reconstruction of Stereo Endoscopic Images via Adaptive Cross and Parallel Supervisionscited by 6
  18. 2021How can we learn (more) from challenges? A statistical approach to driving future algorithm developmentcited by 5
  19. 2023Detecting the Sensing Area of A Laparoscopic Probe in Minimally Invasive Cancer Surgerycited by 5
  20. 2023RIDE: Self-Supervised Learning of Rotation-Equivariant Keypoint Detection and Invariant Description for Endoscopycited by 5
  21. 2024Tracking Everything in Robotic-Assisted Surgerycited by 5
  22. 2025Endo-FASt3r: Endoscopic Foundation model Adaptation for Structure from motioncited by 5
  23. 2022BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matchingcited by 4
  24. 2024BodySLAM: A Generalized Monocular Visual SLAM Framework for Surgical Applicationscited by 4
  25. 2024Advancing Depth Anything Model for Unsupervised Monocular Depth Estimation in Endoscopycited by 4
  26. 2021Bayesian dense inverse searching algorithm for real-time stereo matching in minimally invasive surgerycited by 3
  27. 20223D endoscopic depth estimation using 3D surface-aware constraintscited by 3
  28. 2022A comprehensive survey on recent deep learning-based methods applied to surgical datacited by 3
  29. 2024EndoGaussians: Single View Dynamic Gaussian Splatting for Deformable Endoscopic Tissues Reconstructioncited by 3
  30. 2024Ada-Tracker: Soft Tissue Tracking via Inter-Frame and Adaptive-Template Matchingcited by 3
  31. 2025Fast SAM2 with Text-Driven Token Pruningcited by 3
  32. 2023Regularising disparity estimation via multi task learning with structured light reconstructioncited by 2
  33. 2023EndoDepthL: Lightweight Endoscopic Monocular Depth Estimation with CNN-Transformercited by 2
  34. 2023BDIS-SLAM: A lightweight CPU-based dense stereo SLAM for surgerycited by 2
  35. 2024Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissuecited by 2
  36. 2024Neural Fields for 3D Tracking of Anatomy and Surgical Instruments in Monocular Laparoscopic Video Clipscited by 2
  37. 2024EndoDepth: A Benchmark for Assessing Robustness in Endoscopic Depth Predictioncited by 2
  38. 2025CodingHomo: Bootstrapping Deep Homography With Video Codingcited by 2

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