Fig. 1. Illustration of focused plenoptic camera with multi-focus. (a) Keplerian configuration; (b) Galilean configuration

Fig. 2. Establishment of coordinate system for plenoptic camera

Fig. 3. Equivalent multi-camera model. (a) f_L>|b-B|; (b) f_L<|b-B|

Fig. 4. Establishment of coordinate system for sub-camera

Fig. 5. Relation between sub-camera image and micro-image

Fig. 6. Establishment of sub-camera image coordinate system

Fig. 7. Illustration of non-central camera

Fig. 8. Results of relative pose estimation. (a) Median position error; (b) median rotation error

Fig. 9. Results of absolute pose estimation. (a) Median position error; (b) median rotation error

Fig. 10. Results of triangulation

Fig. 11. Raw images captured by R29

Fig. 12. Illustration of detected SIFT features

Fig. 13. Scene reconstruction results. (a) Results without coordinate axis; (b) results with coordinate axis