Endomapper

The Endomapper dataset is the first collection of complete endoscopy sequences acquired during regular medical practice, including slow and careful screening explorations, making secondary use of medical data. Its original purpose is to facilitate the development and evaluation of VSLAM (Visual Simultaneous Localization and Mapping) methods in real endoscopy data. The first release of the dataset is composed of 50 sequences with a total of more than 13 hours of video. It is also the first endoscopic dataset that includes both the computed geometric and photometric endoscope calibration as well as the original calibration videos. Meta-data and annotations associated to the dataset varies from anatomical landmark and description of the procedure labeling, tools segmentation masks, COLMAP 3D reconstructions, simulated sequences with groundtruth and meta-data related to special cases, such as sequences from the same patient. This information will improve the research in endoscopic VSLAM, as well as other research lines, and create new research lines.