Dacryocytorhinostomy (DCR) and other procedures in the nose and tonsils are commonly carried out endonasally through rigid endoscopes. Starting at the Hamlyn Winter School, myself, Lennard van Karnenbeek from Amsterdam, Dr. Mathilde Connan from DLR, and Dr. Claire Daniel, an opthalmic surgeon in London, set out to improve this procedure through robot-assisted or autonomous endoscopy. For this purpose, we are developing endonasal monocular SLAM and illumination-based depth estimation for dense 3D reconstruction and mapping of the nasal lumen.