In 1082, he was suddenly d and put in prison. This time it was for having planned a military expedition to Italy. He wanted to crown himself the Pope. His brother, the king, disapproved of the plan and put a stop to it. Odo spent the next five years in prison in Rouen. His English estates were taken back by the king, as was his office as Earl of Kent. He was allowed to remain the Bishop of Bayeux, however. Odo was released from prison after William died. In 1096 Odo set off on the First Crusade with his nephew, Robert Curthose. He died in Palermo while wintering there in early 1097. He was buried in the Cathedral there.