000168100 001__ 168100 000168100 005__ 20260126155509.0 000168100 0247_ $$2doi$$a10.1007/978-3-032-05127-1_18 000168100 0248_ $$2sideral$$a147677 000168100 037__ $$aART-2026-147677 000168100 041__ $$aeng 000168100 100__ $$aIranzo, Raúl$$uUniversidad de Zaragoza 000168100 245__ $$aEndoMetric: Near-Light Monocular Metric Scale Estimation in Endoscopy 000168100 260__ $$c2026 000168100 5203_ $$aGeometric reconstruction and SLAM with endoscopic images have advanced significantly in recent years. In most medical fields, monocular endoscopes are employed, and the algorithms used are typically adaptations of those designed for external environments, resulting in 3D reconstructions with an unknown scale factor. For the first time, we propose a method to estimate the real metric scale of a 3D reconstruction from standard monocular endoscopic images, under unknown varying albedo, without relying on application-specific learned priors. Our fully model-based approach leverages the near-light sources embedded in endoscopes, positioned at a small but nonzero baseline from the camera, in combination with the inverse-square law of light attenuation, to accurately recover the metric scale from scratch. This enables the transformation of any endoscope into a metric device, which is crucial for applications such as measuring polyps, stenosis, or assessing the extent of diseased tissue. 000168100 540__ $$9info:eu-repo/semantics/closedAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000168100 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000168100 700__ $$0(orcid)0000-0002-6837-934X$$aBatlle, Víctor M.$$uUniversidad de Zaragoza 000168100 700__ $$0(orcid)0000-0002-4518-5876$$aTardós, Juan D.$$uUniversidad de Zaragoza 000168100 700__ $$0(orcid)0000-0002-3627-7306$$aMontiel, José M. M.$$uUniversidad de Zaragoza 000168100 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000168100 773__ $$g(2026), 180-190$$pLect. notes comput. sci.$$tLecture Notes in Computer Science$$x0302-9743 000168100 8564_ $$s1291518$$uhttps://zaguan.unizar.es/record/168100/files/texto_completo.pdf$$yVersión publicada 000168100 8564_ $$s1481129$$uhttps://zaguan.unizar.es/record/168100/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000168100 909CO $$ooai:zaguan.unizar.es:168100$$particulos$$pdriver 000168100 951__ $$a2026-01-26-14:50:31 000168100 980__ $$aARTICLE