Depth estimation has numerous medical and surgical applications. We benchmark four depth sensors on a porcine bone specimen, a porcine belly specimen, and a silicone kidney phantom using stylus-sampled references. These objects contain several real-world challenges, including homogeneous surfaces, specular surfaces, and subsurface scattering. The comparison includes stereo, structured-light, and time-of-flight sensors at a distance of approximately 50 cm. Specifically, the Intel RealSense D405 (Intel RealSense, United States), PMD Flexx2 (pmdtechnologies, Germany), Stereolabs ZED 2i (Stereolabs, France), and Zivid 2M+ 60 (Zivid, Norway) are compared. The Zivid 2M+ 60 performed best across all objects and metrics considered in this work. The ZED ranked second for real tissue, but last on the phantom.

翻译：深度估计在医疗和外科领域具有广泛应用。我们以猪骨标本、猪腹标本和硅胶肾脏模型为对象，使用触笔采样参考基准对四种深度传感器进行了基准测试。这些物体包含若干现实挑战，包括均匀表面、镜面反射表面及次表面散射。本比较涵盖距离约50厘米处的立体视觉、结构光与飞行时间传感器，具体对比了Intel RealSense D405（英特尔实感，美国）、PMD Flexx2（pmdtechnologies，德国）、Stereolabs ZED 2i（Stereolabs，法国）和Zivid 2M+ 60（Zivid，挪威）。在本研究所有评估对象与指标中，Zivid 2M+ 60表现最优。ZED在真实组织上排名第二，但在硅胶模型上排名垫底。