{"id":"https://openalex.org/W4413926170","doi":"https://doi.org/10.1109/icra55743.2025.11128637","title":"Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-Driven Surface Normal-Aware Tracking and Mapping","display_name":"Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-Driven Surface Normal-Aware Tracking and Mapping","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926170","doi":"https://doi.org/10.1109/icra55743.2025.11128637"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128637","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057871003","display_name":"Yiming Huang","orcid":"https://orcid.org/0000-0001-8259-1681"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yiming Huang","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Dept. of Electronic Engineering,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Dept. of Electronic Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006553197","display_name":"Beilei Cui","orcid":"https://orcid.org/0009-0009-7900-8032"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Beilei Cui","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Dept. of Electronic Engineering,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Dept. of Electronic Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016046812","display_name":"Long Bai","orcid":"https://orcid.org/0000-0002-9762-6821"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Long Bai","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Dept. of Electronic Engineering,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Dept. of Electronic Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013433350","display_name":"Zhen Chen","orcid":"https://orcid.org/0000-0002-9412-9774"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Zhen Chen","raw_affiliation_strings":["Hong Kong Institute of Science &#x0026; Innovation,Centre for Artificial Intelligence and Robotics (CAIR), Chinese Academy of Sciences,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Institute of Science &#x0026; Innovation,Centre for Artificial Intelligence and Robotics (CAIR), Chinese Academy of Sciences,Hong Kong,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101884820","display_name":"Jinlin Wu","orcid":"https://orcid.org/0000-0001-6805-1822"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Jinlin Wu","raw_affiliation_strings":["Hong Kong Institute of Science &#x0026; Innovation,Centre for Artificial Intelligence and Robotics (CAIR), Chinese Academy of Sciences,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Institute of Science &#x0026; Innovation,Centre for Artificial Intelligence and Robotics (CAIR), Chinese Academy of Sciences,Hong Kong,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100681000","display_name":"Zhen Li","orcid":"https://orcid.org/0000-0002-2049-2108"},"institutions":[{"id":"https://openalex.org/I4210161528","display_name":"Qilu Hospital of Shandong University","ror":"https://ror.org/056ef9489","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Li","raw_affiliation_strings":["Qilu Hospital of Shandong University,Jinan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qilu Hospital of Shandong University,Jinan,China","institution_ids":["https://openalex.org/I4210161528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Hong Kong Institute of Science &#x0026; Innovation,Centre for Artificial Intelligence and Robotics (CAIR), Chinese Academy of Sciences,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Institute of Science &#x0026; Innovation,Centre for Artificial Intelligence and Robotics (CAIR), Chinese Academy of Sciences,Hong Kong,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Dept. of Electronic Engineering,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Dept. of Electronic Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4084","last_page":"4091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10977","display_name":"Optical Imaging and Spectroscopy Techniques","score":0.930899977684021,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10977","display_name":"Optical Imaging and Spectroscopy Techniques","score":0.930899977684021,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7611687183380127},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6136499047279358},{"id":"https://openalex.org/keywords/surface-reconstruction","display_name":"Surface reconstruction","score":0.5767493844032288},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.548343300819397},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5169919729232788},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.47512251138687134},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.42217332124710083},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4160385727882385},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4154036343097687},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09465178847312927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09144604206085205},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09084802865982056}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7611687183380127},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6136499047279358},{"id":"https://openalex.org/C20885615","wikidata":"https://www.wikidata.org/wiki/Q825595","display_name":"Surface reconstruction","level":3,"score":0.5767493844032288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.548343300819397},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5169919729232788},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.47512251138687134},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.42217332124710083},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4160385727882385},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4154036343097687},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09465178847312927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09144604206085205},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09084802865982056},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128637","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1939291475","https://openalex.org/W1967329161","https://openalex.org/W2032147249","https://openalex.org/W2760680236","https://openalex.org/W2883362502","https://openalex.org/W2894410663","https://openalex.org/W2921477907","https://openalex.org/W2963596017","https://openalex.org/W3035387557","https://openalex.org/W3043971245","https://openalex.org/W3135183190","https://openalex.org/W3161896016","https://openalex.org/W3177583232","https://openalex.org/W3179159099","https://openalex.org/W4200072305","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4221161283","https://openalex.org/W4281642191","https://openalex.org/W4285589149","https://openalex.org/W4288751198","https://openalex.org/W4296053300","https://openalex.org/W4309345265","https://openalex.org/W4312114943","https://openalex.org/W4312878643","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386527936","https://openalex.org/W4387129495","https://openalex.org/W4387225661","https://openalex.org/W4387225706","https://openalex.org/W4387309474","https://openalex.org/W4388107858","https://openalex.org/W4390872919","https://openalex.org/W4390873648","https://openalex.org/W4393248012","https://openalex.org/W4399574562","https://openalex.org/W4399574574","https://openalex.org/W4400266739","https://openalex.org/W4401417384","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402713101","https://openalex.org/W4402727865","https://openalex.org/W4402727915","https://openalex.org/W4402754302","https://openalex.org/W4403062952","https://openalex.org/W4406482303"],"related_works":["https://openalex.org/W2064026934","https://openalex.org/W2083481614","https://openalex.org/W3095081273","https://openalex.org/W2090665771","https://openalex.org/W2169427544","https://openalex.org/W1984855422","https://openalex.org/W122154308","https://openalex.org/W33542082","https://openalex.org/W2391505850","https://openalex.org/W2384105963"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,11,34,43,53,93,107,118,134,173],"Mapping":[3],"(SLAM)":[4],"is":[5],"essential":[6],"for":[7,97,132,159],"precise":[8],"surgical":[9,163],"interventions":[10],"robotic":[12],"tasks":[13],"in":[14,21],"minimally":[15],"invasive":[16],"procedures.":[17],"While":[18],"recent":[19],"advancements":[20],"3D":[22],"Gaussian":[23,75],"Splatting":[24,76],"(3DGS)":[25],"have":[26],"improved":[27],"SLAM":[28,52,71],"with":[29,40,73],"high-quality":[30,170],"novel":[31],"view":[32],"synthesis":[33],"fast":[35],"rendering,":[36],"these":[37,80],"systems":[38],"struggle":[39],"accurate":[41,99],"depth":[42,119,160],"surface":[44,85,123],"reconstruction":[45,124,161],"due":[46],"to":[47,56,78,121],"multi-view":[48],"inconsistencies.":[49],"Simply":[50],"incorporating":[51],"3DGS":[54],"leads":[55],"mismatches":[57],"between":[58],"the":[59,112],"reconstructed":[60],"frames.":[61],"In":[62],"this":[63],"work,":[64],"we":[65],"present":[66],"Endo-2DTAM,":[67],"a":[68,84,129],"real-time":[69,174],"endoscopic":[70,143],"system":[72],"2D":[74],"(2DGS)":[77],"address":[79],"challenges.":[81],"Endo-2DTAM":[82,147],"incorporates":[83],"normal-aware":[86],"pipeline,":[87],"which":[88],"consists":[89],"of":[90,151,162],"tracking,":[91,169],"mapping,":[92],"bundle":[94],"adjustment":[95],"modules":[96],"geometrically":[98,135],"reconstruction.":[100],"Our":[101,176],"robust":[102],"tracking":[103],"module":[104,114],"combines":[105],"point-topoint":[106],"point-to-plane":[108],"distance":[109],"metrics,":[110],"while":[111,165],"mapping":[113],"utilizes":[115],"normal":[116],"consistency":[117],"distortion":[120],"enhance":[122],"quality.":[125],"We":[126],"also":[127],"introduce":[128],"pose-consistent":[130],"strategy":[131],"efficient":[133,168],"coherent":[136],"keyframe":[137],"sampling.":[138],"Extensive":[139],"experiments":[140],"on":[141],"public":[142],"datasets":[144],"demonstrate":[145],"that":[146],"achieves":[148],"an":[149],"RMSE":[150],"<tex":[152],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[153],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$1.87":[154],"\\pm":[155],"0.63":[156],"\\mathbf{m":[157],"m}$</tex>":[158],"scenes":[164],"maintaining":[166],"computationally":[167],"visual":[171],"appearance,":[172],"rendering.":[175],"code":[177],"will":[178],"be":[179],"released":[180],"at":[181],"github.com/lastbasket/Endo-2DTAM.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}