Monocular endoscopy images depth estimation with multi-scale residual fusion

Monocular depth estimation plays a fundamental role in clinical endoscopy surgery. However, the coherent illumination, smooth surfaces, and texture-less nature of endoscopy images present significant challenges to traditional depth estimation methods. Existing approaches struggle to accurately perceive depth in such settings. To overcome these challenges, this paper proposes a novel multi-scale residual fusion method for estimating the depth of monocular endoscopy images. Specifically, we address the issue of coherent illumination by leveraging image frequency domain component space transformation, thereby enhancing the stability of the scene's light source. Moreover, we employ an image radiation intensity attenuation model to estimate the initial depth map. Finally, to refine the accuracy of depth estimation, we utilize a multi-scale residual fusion optimization technique. To evaluate the performance of our proposed method, extensive experiments were conducted on public datasets. The structural similarity measures for continuous frames in three distinct clinical data scenes reached impressive values of 0.94, 0.82, and 0.84, respectively. These results demonstrate the effectiveness of our approach in capturing the intricate details of endoscopy images. Furthermore, the depth estimation accuracy achieved remarkable levels of 89.3 % and 91.2 % for the two models' data, respectively, underscoring the robustness of our method. Overall, the promising results obtained on public datasets highlight the significant potential of our method for clinical applications, facilitating reliable depth estimation and enhancing the quality of endoscopy surgical procedures.