SCOPE-4D：内窥镜4D几何基础模型
原标题：SCOPE-4D: Endoscopic 4D Geometry Foundation Models
AI 摘要
研究团队提出 SCOPE-4D，一个内窥镜 4D 几何基础模型，可从单目 RGB 视频单次前向预测相机参数、稠密几何与 3D 组织轨迹。为支撑训练，他们构建了约 5,000 段真实与合成胃肠内窥镜及腹腔镜视频的 SCOPE-5K 数据集，并提出 Common–Residual Motion（CRM）约束组织形变。实验显示该方法在域内与域外几何估计、3D 跟踪和长序列结肠重建上表现更优，盲测用户研究也支持其在真实临床视频上的重建质量。
正文节选
SCOPE-4D: Endoscopic 4D Geometry Foundation Models Abstract Geometric understanding supports endoscopic navigation and robotic assistance, but learning reliable endoscopic geometry faces two challenges: scarce geometric annotations and ambiguity between camera motion and tissue deformation. We present SCOPE-4D, an endoscopic 4D geometry foundation model that jointly predicts camera parameters, dense geometry, and 3D tissue trajectories from monocular RGB video in a single forward pass. Our curat