WS-SfMLearner: Self-supervised Monocular Depth and Ego-motion Estimation on Surgical Videos with Unknown Camera Parameters

Depth estimation in surgical video plays a crucial role in many image-guided surgery procedures. However, it is difficult and time consuming to create depth map ground truth datasets in surgical videos due in part to inconsistent brightness and noise in the surgical scene. Therefore, building an accurate and robust self-supervised depth and camera ego-motion estimation system is gaining more attention from the computer vision community. Although several self-supervision methods alleviate the need for ground truth depth maps and poses, they …

building cs.ai cs.cv datasets eess.iv image map noise parameters part role surgery truth video videos