EndoGMDE: Generalizable Monocular Depth Estimation with Mixture of Low-Rank Experts for Diverse Endoscopic Scenes

Liangjing Shao; Chenkang Du; Benshuang Chen; Xueli Liu; Xinrong Chen

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arXiv · 2509.01206

EndoGMDE: Generalizable Monocular Depth Estimation with Mixture of Low-Rank Experts for Diverse Endoscopic Scenes

Liangjing Shao·Chenkang Du·Benshuang Chen·Xueli Liu·Xinrong Chen

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Abstract

Self-supervised monocular depth estimation is a significant task for low-cost and efficient 3D scene perception and measurement in endoscopy. However, the variety of illumination conditions and scene features is still the primary challenges for depth estimation in endoscopic scenes. In this work, a novel self-supervised framework is proposed for monocular depth estimation in diverse endoscopy. Firstly, considering the diverse features in endoscopic scenes with different tissues, a novel block-wise mixture of dynamic low-rank experts is proposed to efficiently finetune the foundation model for endoscopic depth estimation. In the proposed module, based on the input feature, different experts with a small amount of trainable parameters are adaptively selected for weighted inference, from low-rank experts which are allocated based on the generalization of each block. Moreover, a novel self-supervised training framework is proposed to jointly cope with brightness inconsistency and reflectance interference. The proposed method outperforms state-of-the-art works on SCARED dataset and SimCol dataset. Furthermore, the proposed network also achieves the best generalization based on zero-shot depth estimation on C3VD, Hamlyn and SERV-CT dataset. The outstanding performance of our model is further demonstrated with 3D reconstruction and ego-motion estimation. The proposed method could contribute to accurate endoscopy for minimally invasive measurement and surgery. The evaluation codes will be released upon acceptance, while the demo videos can be found on: https://endo-gmde.netlify.app/.

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BibTeX RIS

Liangjing Shao, Chenkang Du, Benshuang Chen, Xueli Liu, Xinrong Chen. 2025-11-02. EndoGMDE: Generalizable Monocular Depth Estimation with Mixture of Low-Rank Experts for Diverse Endoscopic Scenes. https://arxiv.org/abs/2509.01206

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