SERV-CT: A disparity dataset from cone-beam CT for validation of endoscopic 3D reconstruction

This data set has been published in Medical Image Analysis under the title “SERV-CT: A disparity dataset from CT for validation of endoscopic 3D reconstruction.” The dataset contains 16 stereoendoscopic image pairs with reference anatomical segmentation derived from CT. Two different ex vivo porcine samples were imaged using the straight and 30° endoscopes from the original classic da Vinci™ Surgical System (Intuitive Inc., Sunnyvale, US)A reference is provided by a CT scan from the O-arm™ system (Medtronic Inc, Dublin, Ireland). The scan contains both the anatomy and the endoscope, facilitating constrained manual alignment to provide pose of the viewed anatomical surface relative to the endoscope.The reference is provided as rectified stereo pairs with corresponding disparity and depth as well as labels for overlap region and occlusions.Two versions of this dataset have are incorporated. You can download a simplified version for validation (SERV-CT.zip) and a version including CT surfaces and software for manual alignment (SERV-CT-ALL.zip). You can also download the datasets evaluation code at: http://github.com/surgical-vision/servcttk

该数据集已发表于《医学图像分析》期刊，标题为“SERV-CT：源自CT的视差数据集，用于内镜三维重建的验证”。数据集包含16对立体内镜图像，以及由CT图像得到的参考解剖分割。利用源自原始经典da Vinci™手术系统（Intuitive Inc., Sunnyvale, 美国）的直视和30°内镜，对两种不同的活体猪样本进行了成像。参考图像由O-arm™系统（Medtronic Inc, Dublin, 爱尔兰）的CT扫描提供，其中包含解剖结构和内镜，便于进行约束性手动对齐，从而提供观察到的解剖表面相对于内镜的位姿。该参考图像以校正后的立体对形式提供，包括相应的视差、深度以及重叠区域和遮挡区域的标签。本数据集包含两个版本：简化版（SERV-CT.zip）用于验证，以及包含CT表面和手动对齐软件的完整版（SERV-CT-ALL.zip）。此外，您还可以在http://github.com/surgical-vision/servcttk下载数据集的评估代码。