Feature Detection of Focused Plenoptic Camera Based on Central Projection Stereo Focal Stack

Abstract

Fast and accurate feature extraction can lay a solid foundation for scene reconstruction and visual odometry. However, this has been rather a difficult problem for the focused plenoptic camera. In this paper, to the best of our knowledge, we first introduce an accurate and fast feature extraction algorithm based on central projection stereo focal stack (CPSFS). Specifically, we propose a refocusing algorithm that conforms to the central projection with regard to the center of main lens, which is more accurate than traditional one. On this basis, the feature is extracted on the CPSFS without calculating dense depth maps and total focus images. We verify the precision and efficiency of the proposed algorithm through simulated and real experiments, and give an example of scene reconstruction based on the proposed method. The experimental results show that our feature extraction algorithm is able to support the feature-based scene reconstruction via focused plenoptic camera.