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The results obtained on real images allow to make possible a 3D reconstruction of non-polyhedric objects, by using a zoom. There remain nevertheless some unsolved problems: the necessity of developping highly accurate calibration techniques; the necessity of realising a surface interpolation algorithm taking into account that the points that are on a surface are distributed irregularly; when the displacement is too important, the authors' algorithm does not work well enough. But having an important displacement allows to be more accurate during the 3D points computation. The authors think that this problem can be solved by controlling the zoom mechanically and by taking images while varying the focal length a little at each step. This work is part of medical robotics application to the surgical endoscopy. A 3D representation of the analysed cavity must allow to make the medical hand motion more steady and accurate.