3-D data acquisition and interpretation for virtual reality and telepresence

We present our long-term effort focused on building a 3-D model acquisition system for teleimmersion applications. In our project we stress fast processing and high fidelity of the result: it is not just geometric accuracy of the recovered geometric model but also radiometric correctness of the recovered surface texture. We suggest that single-type geometric model is not sufficient for modeling large and complex scenes. In this paper, a hierarchy of representations suitable for 3-D structure models recoverable from visual data is presented and the related problems of data acquisition and fusion, outlier identification, and models reconstruction are discussed.