# Self-supervised Monocular Depth and Pose Estimation for Endoscopy with Latent Priors

arXiv: https://arxiv.org/abs/2411.17790 · HTML: https://mlsanity.com/paper/2411.17790/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 36 of its 58 references that are in the map.
- First posted on arXiv 26 Nov 2024.

## Builds on (most cited first, 30 of 36)

- [A Style-Based Generator Architecture for Generative Adversarial Networks](https://mlsanity.com/paper/1812.04948/) (2018)
- [Improved Training of Wasserstein GANs](https://mlsanity.com/paper/1704.00028/) (2017)
- [Arbitrary Style Transfer in Real-time with Adaptive Instance Normalization](https://mlsanity.com/paper/1703.06868/) (2017)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [Deep Ordinal Regression Network for Monocular Depth Estimation](https://mlsanity.com/paper/1806.02446/) (2018)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [Semi-Supervised Learning with Deep Generative Models](https://mlsanity.com/paper/1406.5298/) (2014)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [Depth Pro: Sharp Monocular Metric Depth in Less Than a Second](https://mlsanity.com/paper/2410.02073/) (2024)
- [Deeper Depth Prediction with Fully Convolutional Residual Networks](https://mlsanity.com/paper/1606.00373/) (2016)
- [From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation](https://mlsanity.com/paper/1907.10326/) (2019)
- [D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry](https://mlsanity.com/paper/2003.01060/) (2020)
- [On the uncertainty of self-supervised monocular depth estimation](https://mlsanity.com/paper/2005.06209/) (2020)
- [Learning Depth from Single Monocular Images Using Deep Convolutional Neural Fields](https://mlsanity.com/paper/1502.07411/) (2015)
- [GLEAN: Generative Latent Bank for Large-Factor Image Super-Resolution](https://mlsanity.com/paper/2012.00739/) (2020)
- [Learning Depth from Monocular Videos using Direct Methods](https://mlsanity.com/paper/1712.00175/) (2017)
- [MonoViT: Self-Supervised Monocular Depth Estimation with a Vision Transformer](https://mlsanity.com/paper/2208.03543/) (2022)
- [Lite-Mono: A Lightweight CNN and Transformer Architecture for Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/2211.13202/) (2022)
- [Colonoscopy 3D Video Dataset with Paired Depth from 2D-3D Registration](https://mlsanity.com/paper/2206.08903/) (2022)
- [Fine-grained Semantics-aware Representation Enhancement for Self-supervised Monocular Depth Estimation](https://mlsanity.com/paper/2108.08829/) (2021)
- [Unsupervised Monocular Depth and Ego-motion Learning with Structure and Semantics](https://mlsanity.com/paper/1906.05717/) (2019)
- [SynDistNet: Self-Supervised Monocular Fisheye Camera Distance Estimation Synergized with Semantic Segmentation for Autonomous Driving](https://mlsanity.com/paper/2008.04017/) (2020)
- [LEGO: Learning Edge with Geometry all at Once by Watching Videos](https://mlsanity.com/paper/1803.05648/) (2018)
- [EndoDAC: Efficient Adapting Foundation Model for Self-Supervised Depth Estimation from Any Endoscopic Camera](https://mlsanity.com/paper/2405.08672/) (2024)
- [Unsupervised Learning of Geometry with Edge-aware Depth-Normal Consistency](https://mlsanity.com/paper/1711.03665/) (2017)
- [Deep attention-based classification network for robust depth prediction](https://mlsanity.com/paper/1807.03959/) (2018)
- [SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth](https://mlsanity.com/paper/1612.05079/) (2016)
- [Deep Learning and Conditional Random Fields-based Depth Estimation and Topographical Reconstruction from Conventional Endoscopy](https://mlsanity.com/paper/1710.11216/) (2017)

## Abstract (arXiv)

Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reliable depth and pose estimation. However, endoscopy systems are monocular, and existing methods relying on synthetic datasets or complex models often lack generalizability in challenging endoscopic conditions. We propose a robust self-supervised monocular depth and pose estimation framework that incorporates a Generative Latent Bank and a Variational Autoencoder (VAE). The Generative Latent Bank leverages extensive depth scenes from natural images to condition the depth network, enhancing realism and robustness of depth predictions through latent feature priors. For pose estimation, we reformulate it within a VAE framework, treating pose transitions as latent variables to regularize scale, stabilize z-axis prominence, and improve x-y sensitivity. This dual refinement pipeline enables accurate depth and pose predictions, effectively addressing the GI tract's complex textures and lighting. Extensive evaluations on SimCol and EndoSLAM datasets confirm our framework's superior performance over published self-supervised methods in endoscopic depth and pose estimation.