CoGE: Sim-to-Real Online Geometric Estimation for Monocular Colonoscopy

ArXi:2605.13038v1 Announce Type: cross Geometric estimation including depth estimation and scene reconstruction is a crucial technique for colonoscopy which can provide surgeons with 3D spatial perception and navigation. However, geometric ground truth in colonoscopy is difficult to obtain due to narrow and enclosed space of the colon, while there is a large feature gap between simulated data and realistic data caused by artifacts and illumination. In this paper, we present CoGE, a novel framework for online monocular geometric estimation during colonoscopy.