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Colorectal Cancer (CRC) is a global health problem, resulting in 900K deaths per year. Colonoscopy is the tool of choice for preventing CRC, by detecting polyps before they become cancerous, and removing them. However, colonoscopy is hampered by the fact that endoscopists routinely miss an average of 22-28% of polyps. While some of these missed polyps appear in the endoscopist's field of view, others are missed simply because of substandard coverage of the procedure, ie not all of the colon is seen. This paper attempts to rectify the problem of substandard coverage in colonoscopy through the introduction of the C2D2 (Colonoscopy Coverage Deficiency via Depth) algorithm which detects deficient coverage, and can thereby alert the endoscopist to revisit a given area. More specifically, C2D2 consists of two separate algorithms: the first performs depth estimation of the colon given an ordinary RGB video …