[2603.00560] Geometry OR Tracker: Universal Geometric Operating Room Tracking

Computer Science > Computer Vision and Pattern Recognition arXiv:2603.00560 (cs) [Submitted on 28 Feb 2026] Title:Geometry OR Tracker: Universal Geometric Operating Room Tracking Authors:Yihua Shao, Kang Chen, Feng Xue, Siyu Chen, Long Bai, Hongyuan Yu, Hao Tang, Jinlin Wu, Nassir Navab View a PDF of the paper titled Geometry OR Tracker: Universal Geometric Operating Room Tracking, by Yihua Shao and 8 other authors View PDF HTML (experimental) Abstract:In operating rooms (OR), world-scale multi-view 3D tracking supports downstream applications such as surgeon behavior recognition, where physically meaningful quantities such as distances and motion statistics must be measured in meters. However, real clinical deployments rarely satisfy the geometric prerequisites for stable multi-view fusion and tracking: camera calibration and RGB-D registration are always unreliable, leading to cross-view geometric inconsistency that produces "ghosting" during fusion and degrades 3D trajectories in a shared OR coordinate frame. To address this, we introduce Geometry OR Tracker, a two-stage pipeline that first rectifies imprecise calibration into a scaleconsistent and geometrically consistent camera setup with a single global scale via a Multi-view Metric Geometry Rectification module, and then performs Occlusion-Robust 3D Point Tracking directly in the unified OR world frame. On the MM-OR benchmark, improved geometric consistency translates into tracking gains: our rectification front-end...