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Lesion-centered 3D mapping of colonoscopy procedures: validation of a hierarchical ensemble pipeline on public benchmark videos

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Background and Objective: Colonoscopy recording practice preserves text reports and still photographs, while the spatial information already present in the recorded video - where the scope traveled, where a lesion was observed, and whether the same lesion was seen again - is discarded when the procedure ends. This study determines whether a lesion-centered spatial record can be assembled and validated without full-colon 3D reconstruction. Methods: A four-layer hierarchical pipeline was assembled - (1) a global topological map, (2) lesion-level spatio-temporal tracks, (3) on-demand local 3D rec

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