An Integrated System for Virtual Scene Rendering, Stereo Reconstruction and Accuracy Estimation.

Abstract

This article depicts an integrated system capable of generating virtual stereo scenes, reconstructing a three-dimensional map of distances, and calculating the accuracy of the results obtained. This tool is particularly useful for verifying the validity of distance reconstruction techniques, and is robust enough to use in a wide variety of scenarios since it avoids the need for an image-capture system in laboratory simulations. The importance of the distance reconstruction problem lies in the range of its applications: industrial inspection and quality control, surveillance and security, autonomous vehicles, robotic systems, medical image analysis, image databases, virtual reality, telepresence, and telerobotics. The system is based on the VRML standard for three-dimensional geometric scene representation, on OpenGL for rendering virtual scenes, and on the TRW algorithm for the problem of three-dimensional reconstruction