{"id":"https://openalex.org/W7162425188","doi":"https://doi.org/10.48550/arxiv.2605.25598","title":"SurfSurg6D: Geometry Consistent Dense Correspondence for Textureless Surgical Instrument Pose Estimation","display_name":"SurfSurg6D: Geometry Consistent Dense Correspondence for Textureless Surgical Instrument Pose Estimation","publication_year":2026,"publication_date":"2026-05-25","ids":{"openalex":"https://openalex.org/W7162425188","doi":"https://doi.org/10.48550/arxiv.2605.25598"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.25598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.25598","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111350501","display_name":"Daiyun Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Daiyun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013977668","display_name":"Shuojue Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Shuojue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058834100","display_name":"Chang Han Low","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Low, Chang Han","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137053364","display_name":"Qian Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Qian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137062266","display_name":"Mengya Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Mengya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137074552","display_name":"Qi Dou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dou, Qi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136993154","display_name":"Yueming Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Yueming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.8447999954223633,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.8447999954223633,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.058400001376867294,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.043699998408555984,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.894599974155426},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.6980999708175659},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.5669999718666077},{"id":"https://openalex.org/keywords/economic-shortage","display_name":"Economic shortage","score":0.5339000225067139},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.517799973487854},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.508899986743927}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.894599974155426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7452999949455261},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.6980999708175659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6865000128746033},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5978999733924866},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.5669999718666077},{"id":"https://openalex.org/C194051981","wikidata":"https://www.wikidata.org/wiki/Q1337691","display_name":"Economic shortage","level":3,"score":0.5339000225067139},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.517799973487854},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.508899986743927},{"id":"https://openalex.org/C188087704","wikidata":"https://www.wikidata.org/wiki/Q369577","display_name":"Standardization","level":2,"score":0.4359999895095825},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4323999881744385},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3741999864578247},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3059000074863434},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.2912999987602234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2547999918460846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.25598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.25598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5687946677207947,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Surgical":[0],"instrument":[1,91],"pose":[2,56,92,117,140],"estimation":[3,57],"provides":[4],"crucial":[5],"information":[6,39],"for":[7,89,135],"promising":[8],"applications,":[9],"including":[10],"autonomous":[11],"robotic":[12],"surgery,":[13],"skill":[14],"assessment,":[15],"and":[16,40,100,137],"standardization":[17],"of":[18,37,107,123],"surgical":[19,60,90],"workflow.":[20],"However,":[21],"this":[22,79],"task":[23],"remains":[24],"highly":[25],"challenging":[26],"due":[27],"to":[28,49,59,73,114],"high":[29],"precision":[30],"requirements,":[31],"frequent":[32],"occlusions,":[33],"textureless":[34],"instruments,":[35],"scarcity":[36],"depth":[38],"very":[41],"limited":[42],"annotated":[43],"data.":[44],"These":[45],"constraints":[46],"often":[47],"lead":[48],"unsatisfactory":[50],"performance":[51,122],"when":[52],"employing":[53],"general":[54],"object":[55],"approaches":[58],"scenarios.":[61],"To":[62],"address":[63],"these":[64],"issues,":[65],"we":[66],"first":[67],"construct":[68],"a":[69,85,132],"new":[70],"dataset":[71,110],"SynSurg6D,":[72],"alleviate":[74],"the":[75,97,105,116,121],"data":[76],"shortage":[77],"in":[78],"task.":[80],"We":[81],"further":[82],"propose":[83],"SurfSurg6D,":[84],"dense-correspondence":[86],"framework":[87],"tailored":[88],"estimation.":[93,141],"Experimental":[94],"results":[95],"on":[96],"SurgRIPE,":[98],"EndoVis2018":[99],"SurgPose":[101],"datasets":[102],"demonstrate":[103],"that":[104],"introduction":[106],"our":[108],"generated":[109],"SynSurg6D":[111],"is":[112],"able":[113],"diversify":[115],"distributions,":[118],"thus":[119],"enhancing":[120],"existing":[124,129],"approaches.":[125],"Furthermore,":[126],"SurfSurg6D":[127],"outperforms":[128],"methods,":[130],"providing":[131],"robust":[133],"solution":[134],"precise":[136],"efficient":[138],"RGB-only":[139]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-27T00:00:00"}
