mlsanityData to 14 Oct 2026

EndoMapper dataset of complete calibrated endoscopy procedures

arXiv 2204.14240 ↗First posted 29 Apr 2022eess.IV cs.CVcited by 53

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Abstract (arXiv)

Computer-assisted systems are becoming broadly used in medicine. In endoscopy, most research focuses on the automatic detection of polyps or other pathologies, but localization and navigation of the endoscope are completely performed manually by physicians. To broaden this research and bring spatial Artificial Intelligence to endoscopies, data from complete procedures is needed. This paper introduces the Endomapper dataset, the first collection of complete endoscopy sequences acquired during regular medical practice, making secondary use of medical data. Its main purpose is to facilitate the development and evaluation of Visual Simultaneous Localization and Mapping (VSLAM) methods in real endoscopy data. The dataset contains more than 24 hours of video. It is the first endoscopic dataset that includes endoscope calibration as well as the original calibration videos. Meta-data and annotations associated with the dataset vary from the anatomical landmarks, procedure labeling, segmentations, reconstructions, simulated sequences with ground truth and same patient procedures. The software used in this paper is publicly available.

Key facts. Cited by 53 papers in the map (data through 14 Oct 2026). Builds on 21 of its 58 references that are in the map. First posted on arXiv 29 Apr 2022.

Builds on

21 of 58 references.

References · 21

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9 more
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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 1; 2023: 10; 2024: 10; 2025: 16; 2026: 16.

53 papers.

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  1. 2023Tracking and Mapping in Medical Computer Vision: A Reviewcited by 36
  2. 2024EndoGSLAM: Real-Time Dense Reconstruction and Tracking in Endoscopic Surgeries using Gaussian Splattingcited by 33
  3. 2024Recent Trends in 3D Reconstruction of General Non-Rigid Scenescited by 28
  4. 2023LightNeuS: Neural Surface Reconstruction in Endoscopy using Illumination Declinecited by 24
  5. 2023SimCol3D -- 3D Reconstruction during Colonoscopy Challengecited by 19
  6. 2023LightDepth: Single-View Depth Self-Supervision from Illumination Declinecited by 17
  7. 2025Endo3R: Unified Online Reconstruction from Dynamic Monocular Endoscopic Videocited by 16
  8. 2025C3VDv2 -- Colonoscopy 3D video dataset with enhanced realismcited by 15
  9. 2024Leveraging Near-Field Lighting for Monocular Depth Estimation from Endoscopy Videoscited by 14
  10. 2024EndoOmni: Zero-Shot Cross-Dataset Depth Estimation in Endoscopy by Robust Self-Learning from Noisy Labelscited by 12
  11. 2024CudaSIFT-SLAM: multiple-map visual SLAM for full procedure mapping in real human endoscopycited by 11
  12. 2025Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mappingcited by 11
38 more
  1. 2025EndoMamba: An Efficient Foundation Model for Endoscopic Videos via Hierarchical Pre-trainingcited by 11
  2. 2024SegCol Challenge: Semantic Segmentation for Tools and Fold Edges in Colonoscopy datacited by 7
  3. 2023Colo-SCRL: Self-Supervised Contrastive Representation Learning for Colonoscopic Video Retrievalcited by 6
  4. 2024Realistic Surgical Image Dataset Generation Based On 3D Gaussian Splattingcited by 6
  5. 2024Structure-preserving Image Translation for Depth Estimation in Colonoscopy Videocited by 6
  6. 2024Topological SLAM in colonoscopies leveraging deep features and topological priorscited by 6
  7. 2023ColonMapper: topological mapping and localization for colonoscopycited by 5
  8. 2023The Drunkard's Odometry: Estimating Camera Motion in Deforming Scenescited by 5
  9. 2023Task-guided Domain Gap Reduction for Monocular Depth Prediction in Endoscopycited by 5
  10. 2025From Pixels to Polygons: A Survey of Deep Learning Approaches for Medical Image-to-Mesh Reconstructioncited by 4
  11. 2024EndoMetric: Near-Light Monocular Metric Scale Estimation in Endoscopycited by 3
  12. 20253D Densification for Multi-Map Monocular VSLAM in Endoscopycited by 3
  13. 2025PPS-Ctrl: Controllable Sim-to-Real Translation for Colonoscopy Depth Estimationcited by 2
  14. 2025ColonAdapter: Geometry Estimation Through Foundation Model Adaptation for Colonoscopycited by 2
  15. 2026BREATH-VL: Vision-Language-Guided 6-DoF Bronchoscopy Localization via Semantic-Geometric Fusioncited by 2
  16. 2026RealSynCol: a high-fidelity synthetic colon dataset for 3D reconstruction applicationscited by 2
  17. 2026NRGS-SLAM: Monocular Non-Rigid SLAM for Endoscopy via Deformation-Aware 3D Gaussian Splattingcited by 2
  18. 2025Acquiring Submillimeter-Accurate Multi-Task Vision Datasets for Computer-Assisted Orthopedic Surgerycited by 1
  19. 2025Sim2Real in endoscopy segmentation with a novel structure aware image translationcited by 1
  20. 2025Endoscopic Depth Estimation Based on Deep Learning: A Surveycited by 1
  21. 20264D Monocular Surgical Reconstruction under Arbitrary Camera Motionscited by 1
  22. 2022Convex Relaxations for Isometric and Equiareal NRSfMcited by 0
  23. 2023SoftEnNet: Symbiotic Monocular Depth Estimation and Lumen Segmentation for Colonoscopy Endorobotscited by 0
  24. 2023Reconstructing the normal and shape at specularities in endoscopycited by 0
  25. 2025Automated vision-based assistance tools in bronchoscopy: stenosis severity estimationcited by 0
  26. 2025EndoMatcher: Generalizable Endoscopic Image Matcher via Multi-Domain Pre-training for Robot-Assisted Surgerycited by 0
  27. 2025EndoGMDE: Generalizable Monocular Depth Estimation with Mixture of Low-Rank Experts for Diverse Endoscopic Scenescited by 0
  28. 2025SurgiATM: A Physics-Guided Plug-and-Play Model for Deep Learning-Based Smoke Removal in Laparoscopic Surgerycited by 0
  29. 2025Bridging the Ex-Vivo to In-Vivo Gap: Synthetic Priors for Monocular Depth Estimation in Specular Surgical Environmentscited by 0
  30. 2026SuperPoint-E: local features for 3D reconstruction via tracking adaptation in endoscopycited by 0
  31. 2026Multi-Modal Monocular Endoscopic Depth and Pose Estimation with Edge-Guided Self-Supervisioncited by 0
  32. 2026The Dresden Dataset for 4D Reconstruction of Non-Rigid Abdominal Surgical Scenescited by 0
  33. 2026Understanding Model Behavior in Monocular Polyp Sizingcited by 0
  34. 2026ST-ColoNet: Spatio-Temporal Colon Segment Recognition via Hybrid Attention and Edge-Guided Feature Learningcited by 0
  35. 2026C3VD-DEFCOL: A Deformable Colonoscopy Dataset with Time-Resolved 3D Ground Truth and Realistic Appearancecited by 0
  36. 2026Gastroendoscopy View Synthesis: A New Real Dataset and Evaluationcited by 0
  37. 2026Geometry-Aware Camera Localization for Bronchoscopycited by 0
  38. 2026Cross-Spectral Dense Correspondence for Multimodal Spectral Medical Imagingcited by 0

50 most cited of 53 All 53 (JSON)