Light Field SLAM

In contrast to standard cameras, light field (or plenoptic) cameras capture the light field of a scene in four dimensions (i.e. spatial and directional information). Therefore, among others, one is able to obtain 3D information from a single recording of a light field camera.

Light field camera based simultaneous localization and mapping (SLAM) focuses on the estimation of the camera trajectory as well as a 3D reconstruction of the environment based on an image sequence recorded by a light field camera. The 4D light field enables metric scale tracking and mapping based on a single camera.

Publikationen

LiFCal: Online Light Field Camera Calibration via Bundle Adjustment

Aymeric Fleith, Doaa Ahmed, Daniel Cremers, Niclas Zeller

German Conference on Pattern Recognition (GCPR); 2024

Generating a Totally Focused Colour Image from Recordings of a Plenoptic Camera

Marcel Sütterlin, Niclas Zeller, Franz Quint

International Symposium on Electronics and Telecommunications (ISETC); 2018

Direct Plenoptic Odometry - Robust Tracking and Mapping with a Light Field Camera

Niclas Zeller

Dissertation - Technische Universität München; 2018

Scale-Awareness of Light Field Camera based Visual Odometry

Niclas Zeller, Franz Quint, Uwe Stilla

European Conference on Computer Vision (ECCV); 2018

A Synchronized Stereo and Plenoptic Visual Odometry Dataset

Niclas Zeller, Franz Quint, Uwe Stilla

arXiv preprint; 2018

From the Calibration of a Light-Field Camera to Direct Plenoptic Odometry

Niclas Zeller, Franz Quint, Uwe Stilla

IEEE Journal of Selected Topics in Signal Processing; 2017

Metric Calibration of a Focused Plenoptic Camera based on a 3D Calibration Target

Niclas Zeller, Charles-Antoine Noury, Franz Quint, Celine Teuliere, Uwe Stilla, Michel Dhome

ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences (Proc. XXIII ISPRS Congress); 2017

Investigating Mathematical Models for Focused Plenoptic Cameras

Niclas Zeller, Franz Quint, Marcel Sütterlin, Uwe Stilla

International Symposium on Electronics and Telecommunications (ISETC); 2016

Depth Estimation from Micro Images of a Plenoptic Camera

Jennifer Konz, Niclas Zeller, Franz Quint, Uwe Stilla

BW-CAR Symposium on Information and Communication Systems (SInCom); 2016

Feature based RGB-D SLAM for a Plenoptic Camera

Andreas Kühefuß, Niclas Zeller, Franz Quint, Uwe Stilla

BW-CAR Symposium on Information and Communication Systems (SInCom); 2016

Depth Estimation and Camera Calibration of a Focused Plenoptic Camera for Visual Odometry

Niclas Zeller, Franz Quint, Uwe Stilla

ISPRS Journal of Photogrammetry and Remote Sensing; 2016

A Real-Time Depth Estimation Approach for a Focused Plenoptic Camera

Ross Vasko, Niclas Zeller, Franz Quint, Uwe Stilla

Advances in Visual Computing (Proc. International Symposium on Visual Computing (ISVC)); 2015

Filtering Probabilistic Depth Maps Received from a Focused Plenoptic Camera

Niclas Zeller, Franz Quint, Uwe Stilla

BW-CAR Symposium on Information and Communication Systems (SInCom); 2015

Establishing a Probabilistic Depth Map from Focused Plenoptic Cameras

Niclas Zeller, Franz Quint, Uwe Stilla

International Conference on 3D Vision (3DV); 2015

Narrow Field-Of-View Visual Odometry Based on a Focused Plenoptic Camera

Niclas Zeller, Franz Quint, Uwe Stilla

ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences (Proc. PIA); 2015

Calibration and Accuracy Analysis of a Focused Plenoptic Camera

Niclas Zeller, Franz Quint, Uwe Stilla

ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences (Proc. PCV); 2014

Kalibrierung und Genauigkeitsuntersuchung einer fokussierten plenoptischen Kamera

Niclas Zeller, Franz Quint, Uwe Stilla

DGPF Tagungsband; 2014