A computer-assisted range image registration system for nuclear waste cleanup

Author

Gagnon, Eric ; Rivest, Jean-François ; Greenspan, Michael ; Burtnyk, Nestor

Author_Institution

Spar Space Syst., Spar Aerosp. Ltd., Brampton, Ont., Canada

Volume

48

Issue

3

fYear

1999

fDate

6/1/1999 12:00:00 AM

Firstpage

758

Lastpage

762

Abstract

Building a three-dimensional (3-D) computer-based representation of a large or complex scene from a set of range images requires assembling the range images so that they are spatially registered. This paper will present a technique for finding a homogeneous transformation between a pair of range images while making use of both range and intensity information obtained using a laser range scanner. A demonstrated application featuring this technique consists of building a 3-D representation of a nuclear dumpsite, which then serves to help control a teleoperated nuclear waste remediation system

Keywords

computer vision; contaminated site remediation; feature extraction; image registration; image representation; image scanners; iterative methods; laser ranging; nuclear engineering computing; radioactive waste processing; virtual reality; 3D computer-based representation; complex scene; computer-assisted range image registration system; feature extraction; homogeneous transformation; iterative closest point algorithm; large scene; laser range scanner; nuclear waste cleanup; set of range images; teleoperated nuclear waste remediation system; user interface; virtual environment; Aerospace engineering; Assembly systems; Control systems; Councils; Image registration; Image representation; Iterative closest point algorithm; Layout; Radioactive pollution; Space technology;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.772217

Filename

772217