解决手术室多视角3D追踪的几何误差问题，实现精准距离测量。
Geometry OR Tracker: Universal Geometric Operating Room Tracking
- 先校正相机参数，统一全局尺度，消除跨视角几何偏差。
- 在统一坐标系下实现抗遮挡的3D点追踪，深度不一致降低30倍以上。
- 适合需要精确空间定位的临床场景，如手术行为分析。
在手术室中，世界尺度的多视角3D追踪支持外科医生行为识别等下游应用，需以米为单位准确测量距离与运动统计。然而真实临床部署常无法满足多视角融合的几何前提：相机标定和RGB-D配准不可靠，导致跨视角几何不一致，融合时出现“鬼影”现象，损害共享手术室坐标系下的3D轨迹精度。为此，我们提出Geometry OR Tracker，一个两阶段流程：首先通过多视角度量几何校正模块，将不精确的标定结果转化为具有单一全局尺度且几何一致的相机设置；随后在统一的手术室世界坐标系中直接执行抗遮挡3D点追踪。在MM-OR基准上，改进的几何一致性带来追踪性能提升：我们的校正前端使跨视角深度差异减少超过30倍。消融实验进一步揭示了标定质量与追踪精度的关系，表明几何一致性越高，世界坐标系下的追踪效果越强。
原文摘要 · Abstract (English)
In operating rooms (OR), world-scale multi-view 3D tracking supports downstream applications such as surgeon behavior recognition, where physically meaningful quantities such as distances and motion statistics must be measured in meters. However, real clinical deployments rarely satisfy the geometric prerequisites for stable multi-view fusion and tracking: camera calibration and RGB-D registration are always unreliable, leading to cross-view geometric inconsistency that produces "ghosting" during fusion and degrades 3D trajectories in a shared OR coordinate frame. To address this, we introduce Geometry OR Tracker, a two-stage pipeline that first rectifies imprecise calibration into a scaleconsistent and geometrically consistent camera setup with a single global scale via a Multi-view Metric Geometry Rectification module, and then performs Occlusion-Robust 3D Point Tracking directly in the unified OR world frame. On the MM-OR benchmark, improved geometric consistency translates into tracking gains: our rectification front-end reduces cross-view depth disagreement by more than 30$\times$ compared to raw calibration. Ablation studies further demonstrate the relationship between calibration quality and tracking accuracy, showing that improved geometric consistency yields stronger world-frame tracking.
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