Geometry-Consistent Endoscopic Representations for Image-Guided Navigation via Structured Foundation Model Adaptation

Accurate vision-based navigation in monocular endoscopy is difficult due to limited depth cues, weak tissue texture, non-rigid deformation, and substantial appearance variation across domains, all of which complicate pose estimation, depth prediction, and image-to-anatomy alignment. Although recent vision foundation models have shown promise, their learned representations often remain insufficiently geometry-consistent, hindering stable feature correspondence and limiting their reliability for d

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ethics.ai (15 June 2026), “Geometry-Consistent Endoscopic Representations for Image-Guided Navigation via Structured Foundation Model Adaptation,” evidence record 929, https://ethics.ai/record/929 (originally published by arXiv).

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