# Adversarial Domain Feature Adaptation for Bronchoscopic Depth Estimation

arXiv: https://arxiv.org/abs/2109.11798 · HTML: https://mlsanity.com/paper/2109.11798/

## Key facts

- Cited by 14 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 31 references that are in the map.
- First posted on arXiv 24 Sep 2021.

## Builds on (most cited first, 14 of 14)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Image-to-Image Translation with Conditional Adversarial Networks](https://mlsanity.com/paper/1611.07004/) (2016)
- [Deeper Depth Prediction with Fully Convolutional Residual Networks](https://mlsanity.com/paper/1606.00373/) (2016)
- [An Intriguing Failing of Convolutional Neural Networks and the CoordConv Solution](https://mlsanity.com/paper/1807.03247/) (2018)
- [DeMoN: Depth and Motion Network for Learning Monocular Stereo](https://mlsanity.com/paper/1612.02401/) (2016)
- [CAM-Convs: Camera-Aware Multi-Scale Convolutions for Single-View Depth](https://mlsanity.com/paper/1904.02028/) (2019)
- [Unsupervised Reverse Domain Adaptation for Synthetic Medical Images via Adversarial Training](https://mlsanity.com/paper/1711.06606/) (2017)
- [Dense Depth Estimation in Monocular Endoscopy with Self-supervised Learning Methods](https://mlsanity.com/paper/1902.07766/) (2019)
- [Unsupervised Monocular Depth Estimation for Night-time Images using Adversarial Domain Feature Adaptation](https://mlsanity.com/paper/2010.01402/) (2020)
- [SLAM Endoscopy enhanced by adversarial depth prediction](https://mlsanity.com/paper/1907.00283/) (2019)
- [Reconstructing Sinus Anatomy from Endoscopic Video -- Towards a Radiation-free Approach for Quantitative Longitudinal Assessment](https://mlsanity.com/paper/2003.08502/) (2020)
- [Endoscopic navigation in the absence of CT imaging](https://mlsanity.com/paper/1806.03997/) (2018)

## Built on by (most cited first, 14 of 14)

- [Deep learning for unsupervised domain adaptation in medical imaging: Recent advancements and future perspectives](https://mlsanity.com/paper/2308.01265/) (2023)
- [LightDepth: Single-View Depth Self-Supervision from Illumination Decline](https://mlsanity.com/paper/2308.10525/) (2023)
- [Self-Supervised 2D/3D Registration for X-Ray to CT Image Fusion](https://mlsanity.com/paper/2210.07611/) (2022)
- [Stereo Dense Scene Reconstruction and Accurate Localization for Learning-Based Navigation of Laparoscope in Minimally Invasive Surgery](https://mlsanity.com/paper/2110.03912/) (2021)
- [BronchoTrack: Airway Lumen Tracking for Branch-Level Bronchoscopic Localization](https://mlsanity.com/paper/2402.12763/) (2024)
- [Data efficient deep learning for medical image analysis: A survey](https://mlsanity.com/paper/2310.06557/) (2023)
- [DD-VNB: A Depth-based Dual-Loop Framework for Real-time Visually Navigated Bronchoscopy](https://mlsanity.com/paper/2403.01683/) (2024)
- [PANS: Probabilistic Airway Navigation System for Real-time Robust Bronchoscope Localization](https://mlsanity.com/paper/2407.05554/) (2024)
- [RIDE: Self-Supervised Learning of Rotation-Equivariant Keypoint Detection and Invariant Description for Endoscopy](https://mlsanity.com/paper/2309.09563/) (2023)
- [3D Densification for Multi-Map Monocular VSLAM in Endoscopy](https://mlsanity.com/paper/2503.14346/) (2025)
- [Monocular absolute depth estimation from endoscopy via domain-invariant feature learning and latent consistency](https://mlsanity.com/paper/2511.02247/) (2025)
- [Endoscopic Depth Estimation Based on Deep Learning: A Survey](https://mlsanity.com/paper/2507.20881/) (2025)
- [BREA-Depth: Bronchoscopy Realistic Airway-geometric Depth Estimation](https://mlsanity.com/paper/2509.11885/) (2025)
- [Enhancing Bronchoscopy Depth Estimation through Synthetic-to-Real Domain Adaptation](https://mlsanity.com/paper/2411.04404/) (2024)

## Abstract (arXiv)

Depth estimation from monocular images is an important task in localization and 3D reconstruction pipelines for bronchoscopic navigation. Various supervised and self-supervised deep learning-based approaches have proven themselves on this task for natural images. However, the lack of labeled data and the bronchial tissue's feature-scarce texture make the utilization of these methods ineffective on bronchoscopic scenes. In this work, we propose an alternative domain-adaptive approach. Our novel two-step structure first trains a depth estimation network with labeled synthetic images in a supervised manner; then adopts an unsupervised adversarial domain feature adaptation scheme to improve the performance on real images. The results of our experiments show that the proposed method improves the network's performance on real images by a considerable margin and can be employed in 3D reconstruction pipelines.