{"id":3327,"date":"2025-08-05T05:20:35","date_gmt":"2025-08-05T05:20:35","guid":{"rendered":"http:\/\/www.labren.org\/mm\/?p=3327"},"modified":"2025-08-05T10:42:55","modified_gmt":"2025-08-05T10:42:55","slug":"%f0%9f%9a%80-endoscopic-slam-with-2d-gaussian-splatting-%f0%9f%a9%ba%f0%9f%94%ac","status":"publish","type":"post","link":"http:\/\/www.labren.org\/mm\/news\/%f0%9f%9a%80-endoscopic-slam-with-2d-gaussian-splatting-%f0%9f%a9%ba%f0%9f%94%ac\/","title":{"rendered":"\ud83d\ude80 Endoscopic SLAM with 2D Gaussian Splatting! \ud83e\ude7a\ud83d\udd2c"},"content":{"rendered":"\n<p>Our paper entitled &#8220;Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping&#8221; has been accepted at <strong>#ICRA2025<\/strong>! \ud83c\udf89<\/p>\n\n\n\n<p>Multi-view inconsistencies in 3D Gaussian Splatting (3DGS) have long limited precise depth and surface reconstruction in minimally invasive surgery. Our team (Yiming Huang *, Beilei Cui *, Long Bai *, Zhen Chen, Jinlin Wu, Zhen Li, Hongbin Liu, Hongliang Ren) from <a href=\"https:\/\/www.linkedin.com\/company\/103371608\/admin\/page-posts\/published\/#\">The Chinese University of Hong Kong<\/a> and <a href=\"https:\/\/www.linkedin.com\/company\/103371608\/admin\/page-posts\/published\/#\">Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &amp; Innovation, CAS<\/a> introduces Endo-2DTAM\u2014a real-time endoscopic SLAM system that combines 2DGS with a surface normal-aware pipeline to achieve geometrically accurate, high-quality reconstruction.<\/p>\n\n\n\n<p>\ud83d\udd11 Key Innovations:<\/p>\n\n\n\n<p>\u2705 Robust tracking via point-to-point\/plane metrics<\/p>\n\n\n\n<p>\u2705 Surface enhancement using normal consistency &amp; depth distortion<\/p>\n\n\n\n<p>\u2705 Pose-consistent keyframe sampling for coherence<\/p>\n\n\n\n<p>\ud83d\udcc8 Results:<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;1.87\u00b10.63 mm RMSE in depth reconstruction<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;Real-time rendering &amp; efficient computation<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;Open-source code: GitHub (https:\/\/lnkd.in\/gyRr2YxS)<\/p>\n\n\n\n<p>Paving the way for safer, smarter surgical robotics! \ud83e\udd16\ud83d\udca1<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/media.licdn.com\/dms\/image\/v2\/D5622AQEm7RzbZQIi9w\/feedshare-shrink_800\/B56ZVwOFJ9GoAg-\/0\/1741344495474?e=1756944000&amp;v=beta&amp;t=8MosOLsTPpR2sxCFwnyN-o0LIagiDyN0snaf0eBm71M\" alt=\"diagram\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Our paper entitled &#8220;Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping&#8221; has been accepted at #ICRA2025! \ud83c\udf89 Multi-view inconsistencies in 3D Gaussian Splatting (3DGS) have long limited precise depth and surface reconstruction in minimally invasive surgery. Our team (Yiming Huang *, Beilei Cui *, Long Bai\u2026 <a class=\"continue-reading-link\" href=\"http:\/\/www.labren.org\/mm\/news\/%f0%9f%9a%80-endoscopic-slam-with-2d-gaussian-splatting-%f0%9f%a9%ba%f0%9f%94%ac\/\">Continue reading<\/a><\/p>\n","protected":false},"author":17,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[4],"tags":[],"class_list":["post-3327","post","type-post","status-publish","format-standard","hentry","category-news"],"_links":{"self":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3327","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/users\/17"}],"replies":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/comments?post=3327"}],"version-history":[{"count":1,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3327\/revisions"}],"predecessor-version":[{"id":3328,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3327\/revisions\/3328"}],"wp:attachment":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/media?parent=3327"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/categories?post=3327"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/tags?post=3327"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}