SCARED-C: Corrected Camera Poses for Endoscopic Depth Estimation
The SCARED dataset is a widely used benchmark for endoscopic depth estimation, offering ground-truth 3D reconstructions captured with a structured light sensor. However, the depth maps for non-keyframe images rely on robot kinematics that introduce substantial pose errors, limiting the reliably labeled portion of the dataset to 35 keyframes. We present SCARED-C, a corrected version of the SCARED dataset that expands the number of reliable RGB-D pairs from 35 to 17,135. Our pipeline applies COLMAP, a Structure-from-Motion system, to re-estimate camera poses for all frames, followed by a scale recovery step that aligns the resulting reconstructions to metric space using the ground-truth key...
| Authors | John J. Han, Adam Schmidt, Max Allan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 15 May 2026 |
| Last updated at source | 15 May 2026 |
Models and datasets referencing this paper
- juseonghan/SCARED-CDataset
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