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

Author

Gagnon, E. ; Rivest, J.-F. ; Greenspan, Marshall ; Burtnyk, N.

Author_Institution

Dept. of Electr. Eng., Ottawa Univ., Ont., Canada

Volume

1

fYear

1996

fDate

1996

Firstpage

106

Abstract

Building a 3D 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 presents 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 3D representation of a nuclear dumpsite, which then serves to help control a teleoperated nuclear waste remediation system

Keywords

feature extraction; image processing; image registration; image representation; minimisation; radioactive pollution; radioactive waste disposal; telecontrol; 3D computer-based representation; 3D representation; computer-assisted range image registration; homogeneous transformation; laser range scanner; nuclear dumpsite; nuclear waste cleanup; point pair selection; range images; teleoperated nuclear waste remediation system; three step registration; Clouds; Computer errors; Councils; Image registration; Information technology; Iterative algorithms; Iterative closest point algorithm; Layout; Radioactive pollution; Reflectivity;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 1996. IMTC-96. Conference Proceedings. Quality Measurements: The Indispensable Bridge between Theory and Reality., IEEE

Conference_Location

Brussels

Print_ISBN

0-7803-3312-8

Type

conf

DOI

10.1109/IMTC.1996.507357

Filename

507357