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S3-Tracker: Self-Supervised Surgical Tissue Tracking With Contrastive Random Walks

arXiv · AI, language, vision and robotics · article · Sep 13, 2026 · UTC

Robust point tracking in endoscopic videos is essential for computer-assisted intervention and autonomous robotic surgery, enabling continuous registration between intraoperative video and preoperative imaging despite soft tissue deformation. However, supervised tracking methods depend on large annotated datasets, while surgical conditions make reliable trajectory annotation challenging. We propose a self-supervised Track-Any-Point approach that learns from unlabeled surgical videos by establishing global pixel correspondences and inferring point trajectories through contrastive random walks.

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