The EndoAbS Dataset (Endoscopic Abdominal Stereo Images Dataset) aims to provide the computer assisted surgery community with a dataset for the validation of 3D reconstruction algorithms.

It is composed of:

  • 120 pairs of endoscopic stereo images of abdominal organs (liver, kidney, spleen);
  • corresponding ground truth in left­camera reference frame, generated using a laser scanner;
  • camera calibration parameters;

The images were captured under different conditions:

  • 3 different light levels;
  • presence of smoke;
  • two phantom­endoscope distances (~5cm or ~10cm);

To download the dataset, please goto:

If you use this dataset, please cite:

A.S. Ciullo, V. Penza, L. Mattos, E. De Momi
“Development of a surgical stereo endoscopic image dataset for
validating 3D stereo reconstruction algorithms.” 6th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery. 2016.

We will soon upload the more detailed Journal paper!

For further information, please contact