Investigation of 3D Reconstruction from Time-series Images by Towing Camera*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Nakamura, Keita; Mineta, Kizuku; Naruse, Keitaro
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 10317
• Page End: 10322
• Publication Date: 2017-07
• Subjects: Modeling -- simulation of power systems -- Test -- documentation -- Low cost technologies -- Passivity-based control -- Modeling -- Information -- sensor fusion; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1658
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This study shows the investigation of three dimensional (3D) reconstruction using a towing camera system in order to collect the information inside the nuclear plant for reactor decommissioning. The towing camera obtains time-series inside the nuclear plant by moving through a cable. The camera can move by pulling the cable. However, in this case, passive rotation affects the 3D reconstruction. In this study, in order to investigate effect of the passive rotation, the experiments are carried out for 3D reconstruction with actual camera at a mockup. In order to investigate influence of passive rotation, we prepare two types of camera. One is towing passive joint camera which is influenced by passive rotations and the other is towing fix joint camera which is not influenced by them. We compare 3D reconstruction from time-series images by these two cameras. A square log is adopted as a target for 3D reconstruction in mockup. Experimental results show that time-series images by a passive joint camera reconstruct the target more accurate and the floor more flatly in comparison to a fixed joint camera. Additionally, we verify that it is difficult to reconstruct the points with respect to the vertical height when towing camera is set to downward.