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. Author manuscript; available in PMC: 2024 Dec 1.
Published in final edited form as: Med Image Anal. 2023 Sep 7;90:102956. doi: 10.1016/j.media.2023.102956

Fig. 1: Sample frame from the proposed dataset.

Fig. 1:

Real colonoscope frames are paired with registered ground truth (GT) depth, surface normals, and optical flow frames (left). Each video is paired with a ground truth camera trajectory, 3D surface model, and coverage map (right).