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MV-dVRK: A Multi-Viewpoint Benchmark for Spatial Surgical Perception
Large-scale training and refined optimization techniques have greatly improved sparse multi-view 3D reconstruction. Despite their relevance to surgery, such methods have never before been rigorously evaluated on real endoscopic images. Current clinical telerobots deploy a single stereo camera inside the patient, making multi-viewpoint data extremely rare. This paper presents MV-dVRK, the first ex-vivo surgical dataset to combine multiple exposure-synchronized stereo viewpoints with accurate surface geometry and camera poses. The static subset of the benchmark provides dense SfM reference geome
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-02T15:25:28.000Z
First collected: 2026-09-21T05:32:15.665Z. This is not the publication date.