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AbstractThis paper summarizes our initial efforts to reconstruct the urinary bladder from endoscopic images acquired in the clinical routine. We found that up to now, only very few attempts have been reported which achieve a true 3D reconstruction of the human bladder. One promising approach which yields a geometric reconstruction up to scale from a monocular stream of images is highlighted and our initial results obtained from adapting the method for its use in clinical cystoscopy are presented.doi:10.1515/cdbme-2015-0113 fatcat:g6ivj7tqofe7bfewwp6f7w4jji