Rethinking RGB-D Fusion for Semantic Segmentation in Surgical Datasets

Muhammad Abdullah Jamal, Omid Mohareri
Proceedings of the 4th Machine Learning for Health Symposium, PMLR 259:524-534, 2025.

Abstract

Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a simple yet effective multi-modal (RGB and depth) training framework called SurgDepth, and show state-of-the-art (SOTA) results on all publicly available datasets applicable for this task. Unlike previous approaches, which either fine-tune SOTA segmentation models trained on natural images, or encode RGB or RGB-D information using RGB only pre-trained backbones, SurgDepth, which is built on top of Vision Transformers (ViTs), is designed to encode both RGB and depth information through a simple fusion mechanism. We conduct extensive experiments on benchmark datasets including EndoVis2022, AutoLapro, LapI2I and EndoVis2017 to verify the efficacy of SurgDepth. Specifically, SurgDepth achieves a new SOTA IoU of 0.86 on EndoVis 2022 SAR-RARP50 challenge and outperforms the current best method by at least 4%, using a shallow and compute efficient decoder consisting of ConvNeXt blocks.

Cite this Paper

BibTeX
@InProceedings{pmlr-v259-jamal25a, title = {Rethinking RGB-D Fusion for Semantic Segmentation in Surgical Datasets}, author = {Jamal, Muhammad Abdullah and Mohareri, Omid}, booktitle = {Proceedings of the 4th Machine Learning for Health Symposium}, pages = {524--534}, year = {2025}, editor = {Hegselmann, Stefan and Zhou, Helen and Healey, Elizabeth and Chang, Trenton and Ellington, Caleb and Mhasawade, Vishwali and Tonekaboni, Sana and Argaw, Peniel and Zhang, Haoran}, volume = {259}, series = {Proceedings of Machine Learning Research}, month = {15--16 Dec}, publisher = {PMLR}, pdf = {https://raw.githubusercontent.com/mlresearch/v259/main/assets/jamal25a/jamal25a.pdf}, url = {https://proceedings.mlr.press/v259/jamal25a.html}, abstract = {Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a simple yet effective multi-modal (RGB and depth) training framework called SurgDepth, and show state-of-the-art (SOTA) results on all publicly available datasets applicable for this task. Unlike previous approaches, which either fine-tune SOTA segmentation models trained on natural images, or encode RGB or RGB-D information using RGB only pre-trained backbones, SurgDepth, which is built on top of Vision Transformers (ViTs), is designed to encode both RGB and depth information through a simple fusion mechanism. We conduct extensive experiments on benchmark datasets including EndoVis2022, AutoLapro, LapI2I and EndoVis2017 to verify the efficacy of SurgDepth. Specifically, SurgDepth achieves a new SOTA IoU of 0.86 on EndoVis 2022 SAR-RARP50 challenge and outperforms the current best method by at least 4%, using a shallow and compute efficient decoder consisting of ConvNeXt blocks.} }
Endnote
%0 Conference Paper %T Rethinking RGB-D Fusion for Semantic Segmentation in Surgical Datasets %A Muhammad Abdullah Jamal %A Omid Mohareri %B Proceedings of the 4th Machine Learning for Health Symposium %C Proceedings of Machine Learning Research %D 2025 %E Stefan Hegselmann %E Helen Zhou %E Elizabeth Healey %E Trenton Chang %E Caleb Ellington %E Vishwali Mhasawade %E Sana Tonekaboni %E Peniel Argaw %E Haoran Zhang %F pmlr-v259-jamal25a %I PMLR %P 524--534 %U https://proceedings.mlr.press/v259/jamal25a.html %V 259 %X Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a simple yet effective multi-modal (RGB and depth) training framework called SurgDepth, and show state-of-the-art (SOTA) results on all publicly available datasets applicable for this task. Unlike previous approaches, which either fine-tune SOTA segmentation models trained on natural images, or encode RGB or RGB-D information using RGB only pre-trained backbones, SurgDepth, which is built on top of Vision Transformers (ViTs), is designed to encode both RGB and depth information through a simple fusion mechanism. We conduct extensive experiments on benchmark datasets including EndoVis2022, AutoLapro, LapI2I and EndoVis2017 to verify the efficacy of SurgDepth. Specifically, SurgDepth achieves a new SOTA IoU of 0.86 on EndoVis 2022 SAR-RARP50 challenge and outperforms the current best method by at least 4%, using a shallow and compute efficient decoder consisting of ConvNeXt blocks.
APA
Jamal, M.A. & Mohareri, O.. (2025). Rethinking RGB-D Fusion for Semantic Segmentation in Surgical Datasets. Proceedings of the 4th Machine Learning for Health Symposium, in Proceedings of Machine Learning Research 259:524-534 Available from https://proceedings.mlr.press/v259/jamal25a.html.

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