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Depth mapping from binocular endoscopy images plays an important role in stereoscopic surgical treatment. Owing to the development of deep convolutional neural networks (CNNs), binocular depth estimation models have achieved many exciting results in the fields of autonomous driving and machine vision. However, the application of these methods to endoscopic imaging is greatly limited by the fact that binocular endoscopic images not only are rare, but also have unsatisfying features such as no texture, no ground truth, bad contrast, and high gloss. Aiming at solving the above-mentioned problems, we have built a precise gastrointestinal environment by the open-source software blender to simulate abundant binocular endoscopy data and proposed a 23-layer deep CNNs method to generate real-time stereo depth mapping. An efficient scale-invariant loss function is introduced in this paper to accommodate the characteristics of endoscope images, which improves the accuracy of achieved depth mapping results. Regarding the considerable training data for typical CNNs, our method requires only a few images ($960\times 720$ resolution) at 45 frames per second on an NVIDIA GTX 1080 GPU module, then the depth mapping information is generated in real-time with satisfactory accuracy. The effectiveness of the developed method is validated by comparing with state-of-the-art methods on processing the same datasets, demonstrating a faster and more accurate performance than other model frames.

Deep Convolutional Network for Stereo Depth Mapping in Binocular Endoscopy