PRISM-VO: Scale-Aware Visual Odometry Using Photometric Plenoptic Bundle Adjustment

arXiv cs.CV1mo4 min read

arXiv:2607.00176v1 Announce Type: new Abstract: We introduce PRISM-VO, a novel pure optimization-based sparse photometric visual odometry framework for focused plenoptic cameras. The core of PRISM-VO is a novel photometric plenoptic bundle adjustment which jointly optimizes camera poses and inverse depth values of points in a sliding window. By combining geometric depth from a single plenoptic image with temporal multi-view constraints, PRISM-VO achieves accurate and drift-resilient motion estimation. Through explicit modeling of the plenoptic projection, PRISM-VO provides reliable metric-scal

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PRISM-VO: Scale-Aware Visual Odometry Using Photometric Plenoptic Bundle Adjustment

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