We propose a new benchmark for evaluating stereoscopic visual-inertial computer vision algorithms (SLAM/ SfM/ 3D Reconstruction/ Visual-Inertial Odometry) for minimally invasive surgical (MIS) interventions in the abdomen. Our MITI Dataset available at [https://mediatum.ub.tum.de/1621941] provides all the necessary data by a complete recording of a handheld surgical intervention at Research Hospital Rechts der Isar of TUM. It contains multimodal sensor information from IMU, stereoscopic video, and infrared (IR) tracking as ground truth for evaluation. Furthermore, calibration for the stereoscope, accelerometer, magnetometer, the rigid transformations in the sensor setup, and time-offsets are available. We wisely chose a suitable intervention that contains very few cutting and tissue deformation and shows a full scan of the abdomen with a handheld camera such that it is ideal for testing SLAM algorithms. Intending to promote the progress of visual-inertial algorithms designed for MIS application, we hope that our clinical training dataset helps and enables researchers to enhance algorithms.
@article{arxiv.2202.11496,
title = {MITI: SLAM Benchmark for Laparoscopic Surgery},
author = {Regine Hartwig and Daniel Ostler and Jean-Claude Rosenthal and Hubertus Feußner and Dirk Wilhelm and Dirk Wollherr},
journal= {arXiv preprint arXiv:2202.11496},
year = {2026}
}
Comments
This submission is withdrawn because it is a duplicate of "Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery" (arXiv:2202.11075). The withdrawn version contains less complete information. Readers are directed to the full version