# Geometry OR Tracker: Universal Geometric Operating Room Tracking

arXiv: https://arxiv.org/abs/2603.00560 · HTML: https://mlsanity.com/paper/2603.00560/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 26 references that are in the map.
- First posted on arXiv 28 Feb 2026.

## Builds on (most cited first, 17 of 17)

- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [CoTracker: It is Better to Track Together](https://mlsanity.com/paper/2307.07635/) (2023)
- [MapAnything: Universal Feed-Forward Metric 3D Reconstruction](https://mlsanity.com/paper/2509.13414/) (2025)
- [TAP-Vid: A Benchmark for Tracking Any Point in a Video](https://mlsanity.com/paper/2211.03726/) (2022)
- [Shape of Motion: 4D Reconstruction from a Single Video](https://mlsanity.com/paper/2407.13764/) (2024)
- [SpatialTracker: Tracking Any 2D Pixels in 3D Space](https://mlsanity.com/paper/2404.04319/) (2024)
- [Local All-Pair Correspondence for Point Tracking](https://mlsanity.com/paper/2407.15420/) (2024)
- [DELTA: Dense Efficient Long-range 3D Tracking for any video](https://mlsanity.com/paper/2410.24211/) (2024)
- [MM-OR: A Large Multimodal Operating Room Dataset for Semantic Understanding of High-Intensity Surgical Environments](https://mlsanity.com/paper/2503.02579/) (2025)
- [SceneTracker: Long-term Scene Flow Estimation Network](https://mlsanity.com/paper/2403.19924/) (2024)
- [DynOMo: Online Point Tracking by Dynamic Online Monocular Gaussian Reconstruction](https://mlsanity.com/paper/2409.02104/) (2024)
- [CholecTrack20: A Multi-Perspective Tracking Dataset for Surgical Tools](https://mlsanity.com/paper/2312.07352/) (2023)
- [Multi-View 3D Point Tracking](https://mlsanity.com/paper/2508.21060/) (2025)
- [Dynamic Depth-Supervised NeRF for Multi-View RGB-D Operating Room Images](https://mlsanity.com/paper/2211.12436/) (2022)
- [Automatic Calibration of a Multi-Camera System with Limited Overlapping Fields of View for 3D Surgical Scene Reconstruction](https://mlsanity.com/paper/2501.16221/) (2025)
- [TeleOR: Real-time Telemedicine System for Full-Scene Operating Room](https://mlsanity.com/paper/2407.19763/) (2024)

## Abstract (arXiv)

In operating rooms (OR), world-scale multi-view 3D tracking supports downstream applications such as surgeon behavior recognition, where physically meaningful quantities such as distances and motion statistics must be measured in meters. However, real clinical deployments rarely satisfy the geometric prerequisites for stable multi-view fusion and tracking: camera calibration and RGB-D registration are always unreliable, leading to cross-view geometric inconsistency that produces "ghosting" during fusion and degrades 3D trajectories in a shared OR coordinate frame. To address this, we introduce Geometry OR Tracker, a two-stage pipeline that first rectifies imprecise calibration into a scaleconsistent and geometrically consistent camera setup with a single global scale via a Multi-view Metric Geometry Rectification module, and then performs Occlusion-Robust 3D Point Tracking directly in the unified OR world frame. On the MM-OR benchmark, improved geometric consistency translates into tracking gains: our rectification front-end reduces cross-view depth disagreement by more than 30× compared to raw calibration. Ablation studies further demonstrate the relationship between calibration quality and tracking accuracy, showing that improved geometric consistency yields stronger world-frame tracking.