BronchoPose: an analysis of data and model configuration for vision-based bronchoscopy pose estimation

•Synthetic Dataset. Publication of a bronchoscopy navigation synthetic dataset based on real anatomies to enable fair comparison among methods. As far as the authors are aware, it is the first public synthetic dataset for bronchoscopy navigation.•Evaluation Protocols. A study and comparison of rotation and position losses and metrics (including a novel one) for bronchoscopy navigation, which helps to establish better grounds for training and evaluation.•Processing of Temporal Information. Research of different solutions for neural network temporal learning in bronchoscopy navigation (LSTM, Convolutional LSTM, and 3D convolutions) to exploit temporal information in bronchoscopic videos, which is currently under explored.•Population Modelling. Analysis of the different options with regards to data usage for industrial applications: first, with a across patient setting, focused on the development of a general model, and secondly, with an intra-patient setting, by providing a specialized model.