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: @article{hayoz2023pose, title={Learning how to robustly estimate camera pose in endoscopic videos}, author={Michel Hayoz, Christopher Hahne, Mathias Gallardo, Daniel Candinas, Thomas Kurmann, Max Allan, Raphael Sznitman}, journal={International Journal of Computer Assisted Radiology and Surgery 2023} doi={https://doi.org/10.1007/s11548-023-02919-w} } 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 test P3 2min 58s 545 mm 60.0 fps 30.0 fps test This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.