StereoMIS
StereoMIS StereoMIS is a dataset for Simultaneous Localization and Mapping (SLAM) in endoscopic surgery. The dataset has been recorded using the da Vinci Xi surgical robot, capturing a stereo video stream and camera forward kinematics. It consists of three in-vivo porcine subjects with 11 surgical
StereoMIS
StereoMIS is a dataset for Simultaneous Localization and Mapping (SLAM) in endoscopic surgery. The dataset has been recorded using the da Vinci Xi surgical robot, capturing a stereo video stream and camera forward kinematics. It consists of three in-vivo porcine subjects with 11 surgical sequences containing breathing, tool motion, and tissue deformations. Each folder contains:
- a video file with vertically stacked video feeds from the stereo endoscopes
- automatically generated tool masks for the left video frames
- camera forward kinematics synchronized with the video feed
- csv-file containing start and stop frames of the relevant sequence
- If you use the dataset in your research, please cite our paper:
Release notes:
- added missing P3
- added missing start and stop frames
| duration | total trajectory length | frame-rate | frame-rate extracted | split | |
|---|---|---|---|---|---|
| P1 | 5min 19s | 1323 mm | 60 fps | 30 fps | train |
| P2_0 | 3min 28s | 434 mm | 52.6 fps | 26.3 fps | test |
| P2_1 | 2min 36s | 1155 mm | 54.4 fps | 27.2 fps | test |
| P2_2 | 2min 37s | 736 mm | 54.4 fps | 27.2 fps | test |
| P2_3 | 2min 35s | 302 mm | 54.4 fps | 27.2 fps | test |
| P2_4 | 2min 37s | 1824 mm | 54.4 fps | 27.2 fps | test |
| P2_5 | 3min 18s | 1671 mm | 54.2 fps | 27.1 fps | test |
| P2_6 | 52s | 205 mm | 26.1 fps | 26.1 fps | test |
| P2_7 | 2min 26s | 725 mm | 37.0 fps | 37.0 fps | test |
| P2_8 | 3min 55s | 950 mm | 39.0 fps | 39.0 fps |