{"paper":{"title":"SCARED-C: Corrected Camera Poses for Endoscopic Depth Estimation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Adam Schmidt, Jie Ying Wu, John J. Han, Max Allan, Omid Mohareri","submitted_at":"2026-05-15T20:48:51Z","abstract_excerpt":"The SCARED dataset is a widely used benchmark for endoscopic depth estimation, offering ground-truth 3D reconstructions captured with a structured light sensor. However, the depth maps for non-keyframe images rely on robot kinematics that introduce substantial pose errors, limiting the reliably labeled portion of the dataset to 35 keyframes. We present SCARED-C, a corrected version of the SCARED dataset that expands the number of reliable RGB-D pairs from 35 to 17,135. Our pipeline applies COLMAP, a Structure-from-Motion system, to re-estimate camera poses for all frames, followed by a scale r"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16628","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.16628/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T19:21:56.752012Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T18:33:26.583464Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"ccef5eaf7d4d9d640936cfa654d1392cacac3a6538ff4a20d7887d9a4aaf3dad"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}