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EndoGSLAM: Real-Time Dense Reconstruction and Tracking in Endoscopic Surgeries using Gaussian Splatting

Authors :
Wang, Kailing
Yang, Chen
Wang, Yuehao
Li, Sikuang
Wang, Yan
Dou, Qi
Yang, Xiaokang
Shen, Wei
Publication Year :
2024

Abstract

Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization and Mapping) methods often struggle to achieve both complete high-quality surgical field reconstruction and efficient computation, restricting their intraoperative applications among endoscopic surgeries. In this paper, we introduce EndoGSLAM, an efficient SLAM approach for endoscopic surgeries, which integrates streamlined Gaussian representation and differentiable rasterization to facilitate over 100 fps rendering speed during online camera tracking and tissue reconstructing. Extensive experiments show that EndoGSLAM achieves a better trade-off between intraoperative availability and reconstruction quality than traditional or neural SLAM approaches, showing tremendous potential for endoscopic surgeries. The project page is at https://EndoGSLAM.loping151.com

Details

Database :
arXiv
Publication Type :
Report
Accession number :
edsarx.2403.15124
Document Type :
Working Paper