Manifold-Guided Stereo-Monocular Refinement for Endoscopic Stereo Disparity Estimation

Dense stereo disparity estimation provides the geometric basis for 3D perception in computer-assisted endoscopy. Endoscopic stereo matching is difficult because reliable tissue correspondences often appear next to weak-texture, specular, occluded, or deformed regions within the same frame. Existing stereo and stereo-monocular methods improve cost aggregation or introduce monocular priors, but they often treat monocular guidance as a global feature source or an independently predicted candidate. Without evaluating the local support of the current stereo match during refinement, the update can reinforce corrupted correspondences in ambiguous regions or allow monocular priors to override reliable metric matches. To tackle these problems, we introduce Manifold-Stereo, a reliability-gated latent-flow framework for endoscopic stereo disparity estimation. The method refines a monocular disparity candidate through a conditional latent residual flow on an image-aligned correction space induced by stereo cost-volume geometry, then calibrates the corrected candidate to the current stereo disparity scale. A geometric consistency gate computed from left-right feature alignment regulates the candidate contribution during recurrent refinement, preserving stereo estimates in well-matched regions while supplying monocular context where local matching is ambiguous. Experiments on in-domain SCARED and zero-shot SERV-CT and Hamlyn show strong average disparity accuracy and competitive thresholded outlier rates against recent stereo and endoscopic baselines.