Multi-scale, multi-dimensional binocular endoscopic image depth estimation network

During invasive surgery, the use of deep learning techniques to acquire depth information from lesion sites in real-time is hindered by the lack of endoscopic environmental datasets. This work aims to develop a high-accuracy three-dimensional (3D) simulation model for generating image datasets and acquiring depth information in real-time. Here, we proposed an end-to-end multi-scale supervisory depth estimation network (MMDENet) model for the depth estimation of pairs of binocular images. The proposed MMDENet highlights a multi-scale feature extraction module incorporating contextual information to enhance the correspondence precision of poorly exposed regions. A multi-dimensional information-guidance refinement module is also proposed to refine the initial coarse disparity map. Statistical experimentation demonstrated a 3.14% reduction in endpoint error compared to state-of-the-art methods. With a processing time of approximately 30fps, satisfying the requirements of real-time operation applications. In order to validate the performance of the trained MMDENet in actual endoscopic images, we conduct both qualitative and quantitative analysis with 93.38% high precision, which holds great promise for applications in surgical navigation. •The depth estimation problem in the endoscopy environment is investigated.•An effective method for generating endoscopic image datasets with depth information.•A novel CNN network is proposed for estimating the depth of binocular image pairs.•The depth prediction in the actual endoscopy environment performed well.