# Endo-4DGX: Robust Endoscopic Scene Reconstruction and Illumination Correction with Gaussian Splatting

arXiv: https://arxiv.org/abs/2506.23308 · HTML: https://mlsanity.com/paper/2506.23308/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 32 references that are in the map.
- First posted on arXiv 29 Jun 2025.

## Builds on (most cited first, 25 of 25)

- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Zero-Reference Deep Curve Estimation for Low-Light Image Enhancement](https://mlsanity.com/paper/2001.06826/) (2020)
- [WildGaussians: 3D Gaussian Splatting in the Wild](https://mlsanity.com/paper/2407.08447/) (2024)
- [Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic Surgery](https://mlsanity.com/paper/2206.15255/) (2022)
- [FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understanding](https://mlsanity.com/paper/2401.01970/) (2024)
- [Colonoscopy 3D Video Dataset with Paired Depth from 2D-3D Registration](https://mlsanity.com/paper/2206.08903/) (2022)
- [EndoSurf: Neural Surface Reconstruction of Deformable Tissues with Stereo Endoscope Videos](https://mlsanity.com/paper/2307.11307/) (2023)
- [Learning How To Robustly Estimate Camera Pose in Endoscopic Videos](https://mlsanity.com/paper/2304.08023/) (2023)
- [Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splatting](https://mlsanity.com/paper/2401.16416/) (2024)
- [Deform3DGS: Flexible Deformation for Fast Surgical Scene Reconstruction with Gaussian Splatting](https://mlsanity.com/paper/2405.17835/) (2024)
- [Aleth-NeRF: Illumination Adaptive NeRF with Concealing Field Assumption](https://mlsanity.com/paper/2312.09093/) (2023)
- [Dual Illumination Estimation for Robust Exposure Correction](https://mlsanity.com/paper/1910.13688/) (2019)
- [DarkGS: Learning Neural Illumination and 3D Gaussians Relighting for Robotic Exploration in the Dark](https://mlsanity.com/paper/2403.10814/) (2024)
- [Learning to Adapt to Light](https://mlsanity.com/paper/2202.08098/) (2022)
- [Gaussian in the Dark: Real-Time View Synthesis From Inconsistent Dark Images Using Gaussian Splatting](https://mlsanity.com/paper/2408.09130/) (2024)
- [LLCaps: Learning to Illuminate Low-Light Capsule Endoscopy with Curved Wavelet Attention and Reverse Diffusion](https://mlsanity.com/paper/2307.02452/) (2023)
- [Color Shift Estimation-and-Correction for Image Enhancement](https://mlsanity.com/paper/2405.17725/) (2024)
- [LighTDiff: Surgical Endoscopic Image Low-Light Enhancement with T-Diffusion](https://mlsanity.com/paper/2405.10550/) (2024)
- [Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping](https://mlsanity.com/paper/2501.19319/) (2025)
- [EndoUIC: Promptable Diffusion Transformer for Unified Illumination Correction in Capsule Endoscopy](https://mlsanity.com/paper/2406.13705/) (2024)
- [Multi-Scale Structural-aware Exposure Correction for Endoscopic Imaging](https://mlsanity.com/paper/2210.15033/) (2022)

## Built on by (most cited first, 2 of 2)

- [ColonSplat: Reconstruction of Peristaltic Motion in Colonoscopy with Dynamic Gaussian Splatting](https://mlsanity.com/paper/2603.06860/) (2026)
- [EndoPrior-GS: Dynamic Endoscopic Reconstruction with a Joint Texture Prior](https://mlsanity.com/paper/2609.37874/) (2026)

## Abstract (arXiv)

Accurate reconstruction of soft tissue is crucial for advancing automation in image-guided robotic surgery. The recent 3D Gaussian Splatting (3DGS) techniques and their variants, 4DGS, achieve high-quality renderings of dynamic surgical scenes in real-time. However, 3D-GS-based methods still struggle in scenarios with varying illumination, such as low light and over-exposure. Training 3D-GS in such extreme light conditions leads to severe optimization problems and devastating rendering quality. To address these challenges, we present Endo-4DGX, a novel reconstruction method with illumination-adaptive Gaussian Splatting designed specifically for endoscopic scenes with uneven lighting. By incorporating illumination embeddings, our method effectively models view-dependent brightness variations. We introduce a region-aware enhancement module to model the sub-area lightness at the Gaussian level and a spatial-aware adjustment module to learn the view-consistent brightness adjustment. With the illumination adaptive design, Endo-4DGX achieves superior rendering performance under both low-light and over-exposure conditions while maintaining geometric accuracy. Additionally, we employ an exposure control loss to restore the appearance from adverse exposure to the normal level for illumination-adaptive optimization. Experimental results demonstrate that Endo-4DGX significantly outperforms combinations of state-of-the-art reconstruction and restoration methods in challenging lighting environments, underscoring its potential to advance robot-assisted surgical applications. Our code is available at https://github.com/lastbasket/Endo-4DGX.