Dense Endoluminal Mapping and Localisation from Monocular Bronchoscopy
Bronchoscopy inserts a camera through the airways to diagnose endoluminal disease. Locating the camera along the airway usually requires additional equipment, such as an electromagnetic tracker and a preoperative CT scan. In this paper, we investigate the use of the monocular camera stream to localise the bronchoscope without requiring additional sensing. We introduce a monocular SLAM system that localises the tip of a bronchoscope and reconstructs the airway surface around it from RGB video alone. A Depth Anything 3 backbone, fine-tuned on over a million photorealistic airway renderings, returns metric per-pixel depth and is the system's only source of scale. DINOv3 features routed throu...
| Authors | Salvatore Esposito, Matias Mattamala, Daniel Rebain et al. |
|---|---|
| Primary category | cs.CV |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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