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A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chornobyl

A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chornobyl

Maimone, M.; Matthies, L.; Osborn, J.; Teza, J.; Thayer, S.
URI: http://hdl.handle.net/2014/19185
Date: 1998-10-12
Citation: IEEE/RSJ, Intelligent Robotic Systems
Victoria, B.C., Canada

Abstract:

We present a novel stereoscopic mapping system for use in nuclear accident settings. First we discuss a radiation shielded sensor array desigtned to tolerate 10***sup6***R of cumulative dose. Next we give 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.

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