Title :
A photo-realistic 3-D mapping system for extreme nuclear environments: Chernobyl
Author :
Maimone, M. ; Matthies, L. ; Osborn, J. ; Rollins, E. ; Teza, J. ; Thayer, S.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
We present a stereoscopic mapping system for use in post-nuclear accident operations by the Pioneer robot. First we discuss a radiation shielded sensor array designed to tolerate extended cumulative dose using 4× shielding. Next, we outline procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for the integration of range information into a 3-D, textured, metrically accurate surface mesh
Keywords :
CCD image sensors; distance measurement; fission reactor accidents; mobile robots; robot vision; stereo image processing; 3D textured metrically accurate surface mesh; Chernobyl; Pioneer robot; extreme nuclear environments; photo-realistic 3D mapping system; post-nuclear accident operations; radiation shielded sensor array; range estimation; stereoscopic mapping system; trinocular stereo; Accidents; Assembly; Cameras; Inductors; Neutrons; Propulsion; Robots; Sensor arrays; Surface texture; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724814
