Toussaint, N;
Colleoni, E;
Sanchez-Matilla, R;
Sutcliffe, J;
Thompson, V;
Asad, M;
Luengo, I;
(2026)
Zero-Shot Monocular Metric Depth for Endoscopic Images.
In:
Data Engineering in Medical Imaging. DEMI 2025.
(pp. pp. 115-124).
Springer, Cham
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2509.18642v1 Zero-Shot Monocular Metric Depth for Endoscopic Images.pdf - Accepted Version Access restricted to UCL open access staff until 13 October 2026. Download (9MB) |
Abstract
Monocular relative and metric depth estimation has seen a tremendous boost in the last few years due to the sharp advancements in foundation models and in particular transformer based networks. As we start to see applications to the domain of endoscopic images, there is still a lack of robust benchmarks and high-quality datasets in that area. This paper addresses these limitations by presenting a comprehensive benchmark of state-of-the-art (metric and relative) depth estimation models evaluated on real, unseen endoscopic images, providing critical insights into their generalisation and performance in clinical scenarios. Additionally, we introduce and publish a novel synthetic dataset (EndoSynth) of endoscopic surgical instruments paired with ground truth metric depth and segmentation masks, designed to bridge the gap between synthetic and real-world data. We demonstrate that fine-tuning depth foundation models using our synthetic dataset boosts accuracy on most unseen real data by a significant margin. By providing both a benchmark and a synthetic dataset, this work advances the field of depth estimation for endoscopic images and serves as an important resource for future research. Project page, EndoSynth dataset and trained weights are available at https://github.com/TouchSurgery/EndoSynth.
| Type: | Proceedings paper |
|---|---|
| Title: | Zero-Shot Monocular Metric Depth for Endoscopic Images |
| Event: | Data Engineering in Medical Imaging (DEMI 2025) |
| ISBN-13: | 9783032080080 |
| DOI: | 10.1007/978-3-032-08009-7_12 |
| Publisher version: | https://doi.org/10.1007/978-3-032-08009-7_12 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10217411 |
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