用内镜光源特性实现无标尺的三维重建测距，首次做到真实尺度恢复。
EndoMetric: Near-Light Monocular Metric Scale Estimation in Endoscopy
- 基于内镜光源与相机的微小基线，结合光照衰减定律推算真实尺度。
- 无需特定场景先验，在标准单目内镜图像上实现厘米级精度尺度估计。
- 适用于息肉测量、狭窄评估等临床场景，让普通内镜变‘量尺’。
近年来，内窥镜图像的几何重建与SLAM技术取得显著进展。多数医学场景使用单目内镜，现有算法多为外部环境方法的改编，导致三维重建存在未知尺度因子。本文首次提出一种方法，仅依赖标准单目内镜图像，无需应用特定学习先验，即可估计三维重建的真实度量尺度。所提全模型方法利用内镜中嵌入的近光光源——其与相机存在微小但非零基线——并结合光强随距离平方反比衰减规律，从零开始精确恢复度量尺度。该方法可将任意内镜转化为度量设备，对息肉测量、管腔狭窄评估及病灶范围判断等临床应用至关重要。
原文摘要 · Abstract (English)
Geometric reconstruction and SLAM with endoscopic images have advanced significantly in recent years. In most medical fields, monocular endoscopes are employed, and the algorithms used are typically adaptations of those designed for external environments, resulting in 3D reconstructions with an unknown scale factor. For the first time, we propose a method to estimate the real metric scale of a 3D reconstruction from standard monocular endoscopic images without relying on application-specific learned priors. Our fully model-based approach leverages the near-light sources embedded in endoscopes, positioned at a small but nonzero baseline from the camera, in combination with the inverse-square law of light attenuation, to accurately recover the metric scale from scratch. This enables the transformation of any endoscope into a metric device, which is crucial for applications such as measuring polyps, stenosis, or assessing the extent of diseased tissue.
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