Table 1:
Comparison of endoscopy reconstruction datasets
| Camera | Ground Truth | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Type | FoV | Res. | Tissue Type | 3D GT | Registration | Frames | Pose | Depth | Normals | Flow | 3D Model | Dataset |
| Stereo da Vinci | Narrow | SD | Ex-vivo Porcine | CT | Manual | 16 | ✓ | ✓ | Edwards et al. (2022) | |||
| Stereo CMOS | Narrow | SD | Phantom | CT | Calib Plate | 120 | ✓ | ✓ | Penza et al. (2018) | |||
| Stereo da Vinci | Narrow | SD | Phantom | CT | Fiducials | 5,816 | ✓ | Stoyanov et al. (2010); Pratt et al. (2010) | ||||
| Stereo da Vinci | Narrow | SD | In-vivo Animal | None | None | 20,000 | Ye et al. (2017) | |||||
| Stereo da Vinci | Narrow | SD | In-vivo Animal | None | None | 92,672 | ✓ | ✓ | Recasens et al. (2021) | |||
| Stereo da Vinci | Narrow | SD | Ex-vivo Porcine | SI | None | 40 | ✓ | Allan et al. (2021) * | ||||
| Stereo da Vinci | Narrow | SD | Ex-vivo Porcine | CT | Fiducials | 131 | ✓ | Maier-Hein et al. (2014) | ||||
| Stereo Rendered | Narrow | SD | Virtual | CT | None | 6,320 | ✓ | Zhang et al. (2021) | ||||
| Mono USB | Narrow | SD | Phantom | None | None | 23,935 | ✓ | Fulton et al. (2020) | ||||
| Mono Rendered | Narrow | SD | Virtual | CT | None | 16,016 | ✓ | Rau et al. (2019) | ||||
| Mono Rendered | Narrow | SD | Virtual | CT | None | 18,000 | ✓ | ✓ | Rau et al. (2022) * | |||
| Mono USB | Wide | SD/HD | Ex-vivo Porcine | OS | None | 39,406 | ✓ | ✓ | Ozyoruk et al. (2021) | |||
| Mono Pill Cam | Wide | SD | Ex-vivo Porcine | None | None | 3,294 | ✓ | Ozyoruk et al. (2021) | ||||
| Mono Colonoscope | Wide | HD | Phantom | CT | None | 12,250 | ✓ | ✓ | Ozyoruk et al. (2021) | |||
| Mono Rendered | Narrow | SD | Virtual | CT | None | 21,887 | ✓ | ✓ | Ozyoruk et al. (2021) | |||
| Mono Colonoscope | Wide | HD | Phantom | Sculpted | Optimized | 10,015 | ✓ | ✓ | ✓ | ✓ | ✓ | Proposed |
Ground Truth (GT), Computed Tomography (CT), Structured Illumination (SI), Optical Scan (OS)
*
Only available to challenge participants