A real-time depth estimation approach for a focused plenoptic camera

Abstract

This paper presents an algorithm for real-time depth estimation with a focused plenoptic camera. The described algorithm is based on pixel-wise stereo-observations in the raw image recorded by the plenoptic camera which are combined in a probabilistic depth map. Additionally, we provide efficient methods for outlier removal based on a Naive Bayes classifier as well as depth refinement using a bilateral filter. We achieve a real-time performance for our algorithm by an optimized parallel implementation.