Context-Aware Depth and Pose Estimation for Bronchoscopic Navigation

Endobronchial intervention is increasingly used as a minimally invasive means of lung intervention. Vision-based localization approaches are often sensitive to image artifacts in bronchoscopic videos. In this letter, a robust navigation system based on a context-aware depth recovery approach for monocular video images is presented. To handle the artifacts, a conditional generative adversarial learning framework is proposed for reliable depth...