Track2Map: Online Deformable SLAM with Motion-Aware Pose Optimization in Robotic Surgery
Gaussian splatting is the current state-of-the-art for dense, deformable 3D anatomy reconstruction in robot-assisted minimally invasive surgery (RAMIS); however, most pipelines are offline and depend on accurate camera trajectory priors (often from robotic kinematics), limiting applicability when priors are missing or noisy. To address these limitations, we propose Track2Map, an online 3D Gaussian Splatting pipeline that jointly optimizes camera trajectory and 3D deformable scene representation directly from surgical video. Track2Map is therefore capable of robust 3D reconstructions when camera trajectory priors are either absent or noisy, and due to its online nature it effectively works...
| Authors | Tianyi Song, Sierra Bonilla, Xinwei Ju et al. |
|---|---|
| Primary category | cs.CV |
| Published | 9 July 2026 |
| Last updated at source | 9 July 2026 |
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