Using structural knowledge for interactive 3D modeling of piping environments

Environment 3D models provide efficient assistance to the supervision of telerobots. Modeling tools are necessary to acquire them in a compatible time with the mission requirements. We already developed an interactive modeling system which relies on images provided by an embedded camera. In order to reduce the modeling time, structural knowledge on the environment is integrated within specialized workshops, including dedicated primitives, constraints and modeling methods. We have demonstrated this approach with the example of a piping workshop, an application developed in collaboration with COGEMA and representative of a real environment in a nuclear fuel reprocessing facility