构建首个带时序3D真值的可变形结肠镜数据集,助力精准重建算法评估。
C3VD-DEFCOL: A Deformable Colonoscopy Dataset with Time-Resolved 3D Ground Truth and Realistic Appearance

- 基于真实结肠模型生成可控形变,同步渲染深度、法向、光流等多维真值。
- 通过模拟体内外观的图像生成模型,实现逼真的黏膜颜色与纹理表现。
- 提供三档蠕动强度的可控测试场景,支持算法在动态形变下的性能验证。
3D重建可提升结肠镜检查效果,实现黏膜覆盖估算并提醒遗漏区域。然而现有数据集缺乏兼具真实体内外观与密集时序3D真值的特性,尤其在非刚性形变下。本文提出C3VD-DEFCOL框架与数据集,用于评估可变形结肠镜重建任务。基于C3VD/C3VDv2结肠网格与相机轨迹,生成包括蠕动波和中心线运动在内的受控形变,并逐帧渲染深度、表面法向、光流、相机位姿及时间戳3D网格。利用渲染几何(主要为深度)作为条件,驱动基于LTX-2.3的模拟到现实图像生成模型,产出具有真实体内黏膜色泽、纹理、血管与高光特性的RGB视频,同时保留底层3D结构。数据集包含110段视频,源自11个不同结肠网格,涵盖多样相机轨迹、外观与参数化形变模式,包括三种蠕动严重程度作为可控评估轴。通过外观真实性、几何一致性与时序一致性指标评估生成视频质量,并利用配对真值基准下游姿态估计任务。实验表明,姿态估计误差随形变强度增加而上升,提供现有活体数据集无法实现的可控压力测试。整体上,C3VD-DEFCOL设计为可复现、量化的可变形3D重建算法评估平台,旨在缩小合成数据与真实结肠镜之间的域差距。
原文摘要 · Abstract (English)
3D reconstruction could improve colonoscopy by estimating mucosal coverage and alerting clinicians to missed regions during screening. However, algorithm development is limited as no current datasets provide both a realistic in vivo appearance and dense, time-resolved 3D ground truth, especially under non-rigid deformation. We present C3VD-DEFCOL, a framework and dataset for evaluating deformable colonoscopy reconstruction with paired geometry and realistic texture. Starting from C3VD/C3VDv2 colon meshes and camera trajectories, we generate controlled deformations of the colon surface, including peristaltic waves and centerline motion, and render per-frame depth, surface normals, optical flow, camera poses, and time-stamped 3D meshes. We then use the rendered geometry, primarily depth, to condition an LTX-2.3-based sim-to-real translation model that produces RGB clips with in vivo-like mucosal color, texture, vasculature, and specular appearance while preserving the underlying 3D scene structure. The resulting dataset contains 110 videos from 11 unique colon mesh geometries, with varying camera trajectories, appearances, and parameterized deformation regimes, including three peristaltic severity levels that serve as controlled evaluation axes. We evaluate the generated videos using appearance realism, geometric consistency, and temporal consistency metrics, and use the paired ground truth to benchmark the downstream task of pose estimation in deformable 3D reconstruction. Our experiments show how pose estimation error increases with increasing deformation severity, providing a controlled stress test that is not possible with existing in vivo datasets. Overall, C3VD-DEFCOL is designed as a reproducible, quantitative evaluation platform for testing deformable 3D reconstruction algorithms, with the goal of reducing the domain gap between synthetic datasets and in vivo colonoscopy.
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