This paper presents a method to calculate the depth values of 3D points by means of a plenoptic camera. Opposed to other approaches which use the totally focused image to detect points, we operate directly on the micro images taking thus advantage of the higher resolution of the plenoptic cameras raw image. Depth estimation takes place only for the points of interest, resulting in a semi-dense approach. The detected points can further be used in a subsequent simultaneous localization and mapping (SLAM) process.     «

This paper presents a method to calculate the depth values of 3D points by means of a plenoptic camera. Opposed to other approaches which use the totally focused image to detect points, we operate directly on the micro images taking thus advantage of the higher resolution of the plenoptic cameras raw image. Depth estimation takes place only for the points of interest, resulting in a semi-dense approach. The detected points can further be used in a subsequent simultaneous localization and mapping...     »