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Titel:

Narrow field-of-view visual odometry based on a focused plenoptic camera

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Zeller, N; Quint, F; Stilla, U
Abstract:
In this article we present a new method for visual odometry based on a focused plenoptic camera. This method fuses the depth data gained by a monocular Simultaneous Localization and Mapping (SLAM) algorithm and the one received from a focused plenoptic camera. Our algorithm uses the depth data and the totally focused images supplied by the plenoptic camera to run a real-time semi-dense direct SLAM algorithm. Based on this combined approach, the scale ambiguity of a monocular SLAM system can be o...     »
Stichworte:
Depth estimation, featureless, focused plenoptic camera, light-field, SLAM, visual odometry
Zeitschriftentitel:
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Jahr:
2015
Band / Volume:
2
Heft / Issue:
3
Seitenangaben Beitrag:
285
Volltext / DOI:
doi:10.5194/isprsannals-II-3-W4-285-2015
WWW:
https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W4/285/2015/isprsannals-II-3-W4-285-2015.pdf
Verlag / Institution:
Copernicus GmbH
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