Empirical Evaluation on the Localization Accuracy of Visual Odometry on the Gratings for PCV Internal Investigation

抄録

As one part of the decommission tasks of Fukushima nuclear power plant, efficient and appropriate operation of removal of fuel debris requires essential information of distribution and characteristics of fuel debris. A robotic remote measurement system using an ultrasonic sensor called RhinoUS was developed to detect the distribution of the fuel debris and localize the unknown water leakages in the primary containment vessels (PCV) of the No.1 reactor. Experiments are carried out to evaluate the localization accuracy on the robot pose of the visual odometry method.

The results turn out that we could acquire characteristics of the fuel debris and achieved localization error less than 15mm/1m in complex motion, and generate smooth grating map in bird view. We conclude that the visual odometry localization method might serve as a feasible solution to assist the robot localization on grating.