The Dresden Dataset for 4D Reconstruction of Non-Rigid Abdominal Surgical Scenes
The D4D Dataset provides paired endoscopic video and high-quality structured-light geometry for evaluating 3D reconstruction of deforming abdominal soft tissue in realistic surgical conditions. Data were acquired from six porcine cadaver sessions using a da Vinci Xi stereo endoscope and a Zivid structured-light camera, registered via optical tracking and manually curated iterative alignment methods. Three sequence types - whole deformations, incremental deformations, and moved-camera clips - probe algorithm robustness to non-rigid motion, deformation magnitude, and out-of-view updates. Each clip provides rectified stereo images, per-frame instrument masks, stereo depth, start/end structur...
| Authors | Reuben Docea, Rayan Younis, Yonghao Long et al. |
|---|---|
| Primary category | cs.CV |
| Published | 3 March 2026 |
| Last updated at source | 3 March 2026 |
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