# BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching

arXiv: https://arxiv.org/abs/2205.03133 · HTML: https://mlsanity.com/paper/2205.03133/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 65 references that are in the map.
- First posted on arXiv 6 May 2022.

## Builds on (most cited first, 23 of 23)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Pyramid Stereo Matching Network](https://mlsanity.com/paper/1803.08669/) (2018)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [End-to-End Learning of Geometry and Context for Deep Stereo Regression](https://mlsanity.com/paper/1703.04309/) (2017)
- [Group-wise Correlation Stereo Network](https://mlsanity.com/paper/1903.04025/) (2019)
- [AANet: Adaptive Aggregation Network for Efficient Stereo Matching](https://mlsanity.com/paper/2004.09548/) (2020)
- [Hierarchical Deep Stereo Matching on High-resolution Images](https://mlsanity.com/paper/1912.06704/) (2019)
- [Stereo Correspondence and Reconstruction of Endoscopic Data Challenge](https://mlsanity.com/paper/2101.01133/) (2021)
- [Real-time self-adaptive deep stereo](https://mlsanity.com/paper/1810.05424/) (2018)
- [Fast Optical Flow using Dense Inverse Search](https://mlsanity.com/paper/1603.03590/) (2016)
- [T2Net: Synthetic-to-Realistic Translation for Solving Single-Image Depth Estimation Tasks](https://mlsanity.com/paper/1808.01454/) (2018)
- [E-DSSR: Efficient Dynamic Surgical Scene Reconstruction with Transformer-based Stereoscopic Depth Perception](https://mlsanity.com/paper/2107.00229/) (2021)
- [Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery](https://mlsanity.com/paper/1705.08260/) (2017)
- [MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing](https://mlsanity.com/paper/1803.02009/) (2018)
- [Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgery](https://mlsanity.com/paper/2003.10867/) (2020)
- [SERV-CT: A disparity dataset from CT for validation of endoscopic 3D reconstruction](https://mlsanity.com/paper/2012.11779/) (2020)
- [S2R-DepthNet: Learning a Generalizable Depth-specific Structural Representation](https://mlsanity.com/paper/2104.00877/) (2021)
- [Deep EndoVO: A Recurrent Convolutional Neural Network (RCNN) based Visual Odometry Approach for Endoscopic Capsule Robots](https://mlsanity.com/paper/1708.06822/) (2017)
- [3D Reconstruction of Whole Stomach from Endoscope Video Using Structure-from-Motion](https://mlsanity.com/paper/1905.12988/) (2019)
- [Autonomous Tissue Scanning under Free-Form Motion for Intraoperative Tissue Characterisation](https://mlsanity.com/paper/2005.05050/) (2020)
- [Autonomous Scanning for Endomicroscopic Mosaicing and 3D Fusion](https://mlsanity.com/paper/1604.04137/) (2016)
- [Bayesian dense inverse searching algorithm for real-time stereo matching in minimally invasive surgery](https://mlsanity.com/paper/2106.07136/) (2021)

## Built on by (most cited first, 4 of 4)

- [Tracking and Mapping in Medical Computer Vision: A Review](https://mlsanity.com/paper/2310.11475/) (2023)
- [SENDD: Sparse Efficient Neural Depth and Deformation for Tissue Tracking](https://mlsanity.com/paper/2305.06477/) (2023)
- [BDIS-SLAM: A lightweight CPU-based dense stereo SLAM for surgery](https://mlsanity.com/paper/2312.15679/) (2023)
- [EndoMUST: Monocular Depth Estimation for Robotic Endoscopy via End-to-end Multi-step Self-supervised Training](https://mlsanity.com/paper/2506.16017/) (2025)

## Abstract (arXiv)

In stereoscope-based Minimally Invasive Surgeries (MIS), dense stereo matching plays an indispensable role in 3D shape recovery, AR, VR, and navigation tasks. Although numerous Deep Neural Network (DNN) approaches are proposed, the conventional prior-free approaches are still popular in the industry because of the lack of open-source annotated data set and the limitation of the task-specific pre-trained DNNs. Among the prior-free stereo matching algorithms, there is no successful real-time algorithm in none GPU environment for MIS. This paper proposes the first CPU-level real-time prior-free stereo matching algorithm for general MIS tasks. We achieve an average 17 Hz on 640*480 images with a single-core CPU (i5-9400) for surgical images. Meanwhile, it achieves slightly better accuracy than the popular ELAS. The patch-based fast disparity searching algorithm is adopted for the rectified stereo images. A coarse-to-fine Bayesian probability and a spatial Gaussian mixed model were proposed to evaluate the patch probability at different scales. An optional probability density function estimation algorithm was adopted to quantify the prediction variance. Extensive experiments demonstrated the proposed method's capability to handle ambiguities introduced by the textureless surfaces and the photometric inconsistency from the non-Lambertian reflectance and dark illumination. The estimated probability managed to balance the confidences of the patches for stereo images at different scales. It has similar or higher accuracy and fewer outliers than the baseline ELAS in MIS, while it is 4-5 times faster. The code and the synthetic data sets are available at https://github.com/JingweiSong/BDIS-v2.