Umgebungsmodellierung auf der Basis von Stereo-Kamerabildern für eine Telepräsenzanwendung

In der Teleprasenz konnen durch Pradiktion fotorealistischer Bilder einer Szene, Ubertragungszeiten im visuellen Kanal kompensiert werden. Die vorliegende Arbeit stellt ein vollstandiges System vor, mit dem das hierfur notwendige Modell der Umgebung aus Stereo-Kamerabildern gewonnen und aktualisiert werden kann. Die Arbeit zeichnet sich durch den Einsatz einer polygonalen Szenenbeschreibung aus. Dadurch konnen Kamerabilder zur Texturierung der synthetischen Ansicht genutzt werden. Dies bedingt, dass mit jedem eintreffenden Bildpaar das polygonale Modell nur soweit notig aktualisiert wird. Dazu wird aus dem entzerrten Bildpaar die von den Kameras erfasste Geometrie berechnet, diese im Disparitatenraum mit dem bis dahin bekannten polygonalen Szenenmodell verglichen und das Modell durch Triangulierung und Dezimierung entsprechend aktualisiert. Die Anwendbarkeit des Systems wird an verschiedenen Testszenarien und einem Beispiel aus der minimalinvasiven Chirurgie gezeigt.

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