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

Self-supervised Monocular Depth and Pose Estimation for Endoscopy with Latent Priors arXiv:2411.17790v3 Announce Type: replace Abstract: 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