Bridging the Ex-Vivo to In-Vivo Gap: Synthetic Priors for Monocular Depth Estimation in Specular Surgical Environments

Ankan Aich, Emma D. Ryan, Kris Moe +3

Accurate Monocular Depth Estimation (MDE) is critical for autonomous robotic surgery. However, existing self-supervised methods often exhibit a severe "ex-vivo to in-vivo gap": the…