Direct Plenoptic Odometry - Robust Tracking and Mapping with a Light Field Camera
Niclas Zeller · 2018
Calibration methods and models for plenoptic cameras are presented. These consider effects like depth distortion, sensor tilting, and squinting micro lenses. Visual odometry is performed based on probabilistic depth estimation in micro image pairs of subsequent recordings. Camera motion and scale are determined in a photometric optimization. The method is tested in several indoor and outdoor scenes and is compared to state-of-the-art monocular and stereo algorithms.