Purpose: Surgical scene understanding plays a critical role in the technology
stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For
this, tracking the endoscope pose is a key component, but remains challenging
due to illumination conditions, deforming tissues and the breathing motion of
organs. Method: We propose a solution for stereo endoscopes that estimates
depth and optical flow to minimize two geometric losses for camera pose
estimation. Most importantly, we introduce two learned adaptive per-pixel
weight mappings that balance contributions according to the input image
content. To do so, we train a Deep Declarative Network to take advantage of the
expressiveness of deep-learning and the robustness of a novel geometric-based
optimization approach. We validate our approach on the publicly available
SCARED dataset and introduce a new in-vivo dataset, StereoMIS, which includes a
wider spectrum of typically observed surgical settings. Results: Our method
outperforms state-of-the-art methods on average and more importantly, in
difficult scenarios where tissue deformations and breathing motion are visible.
We observed that our proposed weight mappings attenuate the contribution of
pixels on ambiguous regions of the images, such as deforming tissues.
Conclusion: We demonstrate the effectiveness of our solution to robustly
estimate the camera pose in challenging endoscopic surgical scenes. Our
contributions can be used to improve related tasks like simultaneous
localization and mapping (SLAM) or 3D reconstruction, therefore advancing
surgical scene understanding in minimally-invasive surgery.

该研究提出一种基于双目内窥镜深度估计和光流的深度声明网络，通过减小两个几何损失优化相机姿态估计，并且引入了两个自适应的像素权重映射来平衡贡献，实现在挑战性的内窥镜手术场景中更加鲁棒的相机姿态估计，具有推进微创外科领域相关任务（如 SLAM 或 3D 重建）的研究意义。