多視点ステレオと移動する単一カメラによる点群生成 —核融合炉ITER保守ロボットの遠隔操作補助

抄録

Providing three-dimensional information to operators is a vital technology to operate robotic systems remotely. ITER, which is the world's largest fusion energy experiment, requires maintenance by robotics devices operated remotely because of its radiation environment. Applicable sensors are highly restricted due to the radiation. Authors propose a method using one moving camera and multi-view stereo technology to obtain point clouds as three-dimensional information for operators. As multi-view stereo technologies, Structure-from-Motion and Patch-Based Multi-view Stereo are adopted. Authors tested the proposed method and confirmed the method is capable to create point clouds successfully.