{"id":"https://openalex.org/W4206041966","doi":"https://doi.org/10.1080/21681163.2021.2015723","title":"Spatially variant biases considered self-supervised depth estimation based on laparoscopic videos","display_name":"Spatially variant biases considered self-supervised depth estimation based on laparoscopic videos","publication_year":2022,"publication_date":"2022-01-19","ids":{"openalex":"https://openalex.org/W4206041966","doi":"https://doi.org/10.1080/21681163.2021.2015723"},"language":"en","primary_location":{"id":"doi:10.1080/21681163.2021.2015723","is_oa":false,"landing_page_url":"https://doi.org/10.1080/21681163.2021.2015723","pdf_url":null,"source":{"id":"https://openalex.org/S2764763012","display_name":"Computer Methods in Biomechanics and Biomedical Engineering Imaging & Visualization","issn_l":"2168-1163","issn":["2168-1163","2168-1171"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100761698","display_name":"Wenda Li","orcid":"https://orcid.org/0000-0001-6617-9136"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wenda Li","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054846833","display_name":"Yuichiro Hayashi","orcid":"https://orcid.org/0000-0001-5241-8669"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Hayashi","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074920808","display_name":"Masahiro Oda","orcid":"https://orcid.org/0000-0001-7714-422X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Oda","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan","Information and Communications, Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Information and Communications, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004959911","display_name":"Takayuki Kitasaka","orcid":"https://orcid.org/0000-0003-1648-1999"},"institutions":[{"id":"https://openalex.org/I190508380","display_name":"Aichi Institute of Technology","ror":"https://ror.org/02qsepw74","country_code":"JP","type":"education","lineage":["https://openalex.org/I190508380"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Kitasaka","raw_affiliation_strings":["Faculty of Information Science, Aichi Institute of Technology, Toyota, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Science, Aichi Institute of Technology, Toyota, Japan","institution_ids":["https://openalex.org/I190508380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005597709","display_name":"Kazunari Misawa","orcid":"https://orcid.org/0000-0002-2047-3919"},"institutions":[{"id":"https://openalex.org/I4210133851","display_name":"Aichi Cancer Center","ror":"https://ror.org/03kfmm080","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210133851"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunari Misawa","raw_affiliation_strings":["Department of Gastroenterological Surgery, Aichi Cancer Center Hospital, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Gastroenterological Surgery, Aichi Cancer Center Hospital, Nagoya, Japan","institution_ids":["https://openalex.org/I4210133851"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032527419","display_name":"Kensaku Mori","orcid":"https://orcid.org/0000-0002-0100-4797"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]},{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kensaku Mori","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan","Information Technology Center, Nagoya University, Nagoya, Japan","Research Center of Medical Bigdata, National Institute of Informatics, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Information Technology Center, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Research Center of Medical Bigdata, National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032527419"],"corresponding_institution_ids":["https://openalex.org/I184597095","https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":0.4049,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.53284597,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"3","first_page":"274","last_page":"282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11105","display_name":"Advanced Image Processing Techniques","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7543119192123413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7475218176841736},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6642064452171326},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5561144948005676},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5453826785087585},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5119620561599731},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4707188010215759},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4705762267112732},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.46231162548065186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42974019050598145}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7543119192123413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7475218176841736},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6642064452171326},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5561144948005676},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5453826785087585},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5119620561599731},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4707188010215759},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4705762267112732},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.46231162548065186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42974019050598145},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/21681163.2021.2015723","is_oa":false,"landing_page_url":"https://doi.org/10.1080/21681163.2021.2015723","pdf_url":null,"source":{"id":"https://openalex.org/S2764763012","display_name":"Computer Methods in Biomechanics and Biomedical Engineering Imaging & Visualization","issn_l":"2168-1163","issn":["2168-1163","2168-1171"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3173621809","display_name":"Anatomical structure-driven endoscopic surgery assistance – toward contents-based surgical navigation","funder_award_id":"17H00867","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G643692809","display_name":null,"funder_award_id":"JPMJCR20D5","funder_id":"https://openalex.org/F4320320907","funder_display_name":"Japan Science and Technology Corporation"}],"funders":[{"id":"https://openalex.org/F4320320907","display_name":"Japan Science and Technology Corporation","ror":"https://ror.org/00097mb19"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1590518343","https://openalex.org/W1968919039","https://openalex.org/W2033893696","https://openalex.org/W2055209944","https://openalex.org/W2109255472","https://openalex.org/W2117248802","https://openalex.org/W2133665775","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2300779272","https://openalex.org/W2520707372","https://openalex.org/W2550553598","https://openalex.org/W2557406251","https://openalex.org/W2609883120","https://openalex.org/W2794504598","https://openalex.org/W2921406441","https://openalex.org/W2952813711","https://openalex.org/W2963652981","https://openalex.org/W2963773612","https://openalex.org/W2979502436","https://openalex.org/W2979922443","https://openalex.org/W2980467688","https://openalex.org/W2985775862","https://openalex.org/W3034403088","https://openalex.org/W3034681889","https://openalex.org/W3035056458","https://openalex.org/W3091750200","https://openalex.org/W3095273226","https://openalex.org/W3106635087","https://openalex.org/W3129943368","https://openalex.org/W3173274332","https://openalex.org/W3188267885","https://openalex.org/W3202016623"],"related_works":["https://openalex.org/W2172197285","https://openalex.org/W2991048842","https://openalex.org/W2750280393","https://openalex.org/W2355696739","https://openalex.org/W3158001554","https://openalex.org/W2771909920","https://openalex.org/W2957704286","https://openalex.org/W2028936041","https://openalex.org/W2179141964","https://openalex.org/W2745033168"],"abstract_inverted_index":{"Depth":[0],"estimation":[1,40,82],"is":[2,26,56],"an":[3,119],"essential":[4],"tool":[5],"in":[6,17,44,114,123,169],"obtaining":[7],"depth":[8,32,39,46,62,81,155],"information":[9,137],"for":[10,31,64,111,154,166],"robotic":[11],"surgery":[12,21],"and":[13,34,96,184],"augmented":[14],"reality":[15],"technology":[16],"the":[18,52,60,65,104,109,112,124,129,135,149,176,180],"current":[19],"laparoscopic":[20,49],"robot":[22],"system.":[23],"Since":[24],"there":[25],"a":[27,77,90],"lack":[28],"of":[29,108,151],"ground-truth":[30],"values":[33],"laparoscope":[35],"motions":[36],"during":[37],"operation,":[38],"networks":[41],"have":[42],"difficulties":[43],"predicting":[45],"maps":[47,63],"from":[48,68,138],"images":[50],"under":[51],"supervised":[53],"strategy.":[54],"It":[55],"challenging":[57],"to":[58,93,127,147],"generate":[59],"correct":[61],"different":[66,167],"environments":[67],"abdominal":[69],"images.":[70],"To":[71],"tackle":[72,128],"these":[73],"problems,":[74],"we":[75,117],"propose":[76],"novel":[78],"monocular":[79],"self-supervised":[80],"network":[83,110],"with":[84,162],"sparse":[85],"nest":[86],"architecture.":[87],"We":[88,141,157],"design":[89],"non-local":[91],"block":[92],"capture":[94],"broader":[95],"deeper":[97],"context":[98],"features":[99],"that":[100,175],"can":[101],"further":[102],"enhance":[103],"scene-variant":[105],"generalisation":[106],"capacity":[107],"differences":[113],"datasets.":[115,170],"Moreover,":[116],"introduce":[118],"improved":[120],"multi-mask":[121],"feature":[122],"loss":[125],"function":[126],"classical":[130],"occlusion":[131],"problem":[132],"based":[133],"on":[134],"time-series":[136],"stereo":[139],"videos.":[140],"also":[142],"use":[143],"heteroscedastic":[144],"aleatoric":[145],"uncertainty":[146],"reduce":[148],"effect":[150],"noisy":[152],"data":[153],"estimation.":[156],"compared":[158],"our":[159],"proposed":[160,177],"method":[161],"other":[163],"existing":[164],"methods":[165],"scenes":[168],"The":[171],"experimental":[172],"results":[173],"show":[174],"model":[178],"outperformed":[179],"state-of-the-art":[181],"models":[182],"qualitatively":[183],"quantitatively.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}