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.

Publications

LiFMCR: Dataset and Benchmark for Light Field Multi-Camera Registration
LiFMCR: Dataset and Benchmark for Light Field Multi-Camera Registration
Aymeric Fleith, Julian Zirbel, Daniel Cremers, Niclas Zeller
International Symposium on Visual Computing (ISVC); 2025
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TurnBack: A Geospatial Route Cognition Benchmark for Large Language Models through Reverse Route
TurnBack: A Geospatial Route Cognition Benchmark for Large Language Models through Reverse Route
Hongyi Luo, Qing Cheng, Daniel Matos, Hari Krishna Gadi, Yanfeng Zhang, Lu Liu, Yongliang Wang, Niclas Zeller, Daniel Cremers, Liqiu Meng
Conference on Empirical Methods in Natural Language Processing (EMNLP); 2025
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LADB: Latent Aligned Diffusion Bridges for Semi-Supervised Domain Translation
LADB: Latent Aligned Diffusion Bridges for Semi-Supervised Domain Translation
Xuqin Wang, Tao Wu, Yanfeng Zhang, Lu Liu, Dong Wang, Mingwei Sun, Yongliang Wang, Niclas Zeller, Daniel Cremers
DAGM German Conference on Pattern Recognition (GCPR); 2025
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ABeL: A Customizable Open-Source Framework for Evaluating 3D Terrestrial Positioning Algorithms
ABeL: A Customizable Open-Source Framework for Evaluating 3D Terrestrial Positioning Algorithms
Simon Huh, Tristan Itschner, Niclas Zeller
Workshop for Computing & Advanced Localization at the International Conference on Indoor Positioning and Indoor Navigation (IPIN-WCAL); 2025
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LiFCal: Online Light Field Camera Calibration via Bundle Adjustment
LiFCal: Online Light Field Camera Calibration via Bundle Adjustment
Aymeric Fleith, Doaa Ahmed, Daniel Cremers, Niclas Zeller
German Conference on Pattern Recognition (GCPR); 2024
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Generating a Totally Focused Colour Image from Recordings of a Plenoptic Camera
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
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Direct Plenoptic Odometry - Robust Tracking and Mapping with a Light Field Camera
Direct Plenoptic Odometry - Robust Tracking and Mapping with a Light Field Camera
Niclas Zeller
Dissertation - Technische Universität München; 2018
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Scale-Awareness of Light Field Camera based Visual Odometry
Scale-Awareness of Light Field Camera based Visual Odometry
Niclas Zeller, Franz Quint, Uwe Stilla
European Conference on Computer Vision (ECCV); 2018
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A Synchronized Stereo and Plenoptic Visual Odometry Dataset
A Synchronized Stereo and Plenoptic Visual Odometry Dataset
Niclas Zeller, Franz Quint, Uwe Stilla
arXiv preprint; 2018
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From the Calibration of a Light-Field Camera to Direct Plenoptic Odometry
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
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Metric Calibration of a Focused Plenoptic Camera based on a 3D Calibration Target
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
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Investigating Mathematical Models for Focused Plenoptic Cameras
Investigating Mathematical Models for Focused Plenoptic Cameras
Niclas Zeller, Franz Quint, Marcel Sütterlin, Uwe Stilla
International Symposium on Electronics and Telecommunications (ISETC); 2016
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Depth Estimation from Micro Images of a Plenoptic Camera
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
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Feature based RGB-D SLAM for a Plenoptic Camera
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
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Depth Estimation and Camera Calibration of a Focused Plenoptic Camera for Visual Odometry
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
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A Real-Time Depth Estimation Approach for a Focused Plenoptic Camera
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
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Filtering Probabilistic Depth Maps Received from a Focused Plenoptic Camera
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
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Establishing a Probabilistic Depth Map from Focused Plenoptic Cameras
Establishing a Probabilistic Depth Map from Focused Plenoptic Cameras
Niclas Zeller, Franz Quint, Uwe Stilla
International Conference on 3D Vision (3DV); 2015
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Narrow Field-Of-View Visual Odometry Based on a Focused Plenoptic Camera
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
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Calibration and Accuracy Analysis of a Focused Plenoptic Camera
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
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Kalibrierung und Genauigkeitsuntersuchung einer fokussierten plenoptischen Kamera
Kalibrierung und Genauigkeitsuntersuchung einer fokussierten plenoptischen Kamera
Niclas Zeller, Franz Quint, Uwe Stilla
DGPF Tagungsband; 2014
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