Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos Using Depth Networks and Photometric Constraints

Estimating a scene reconstruction and the camera motion from in-body videos is challenging due to several factors, e.g. the deformation of in-body cavities or the lack of texture. In this paper we present Endo-Depth-and-Motion , a pipeline that estimates the 6-degrees-of-freedom camera pose and dense 3D scene models from monocular endoscopic sequences. Our approach leverages recent advances in self-supervised depth networks to generate pseudo- RGBD frames, then tracks the camera pose using photometric residuals and fuses the registered depth maps in a volumetric representation. We present an extensive experimental evaluation in the public dataset Hamlyn, showing high-quality results and comparisons against relevant baselines. We also release all models and code1 for future comparisons.