Title :
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
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;
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
DOI :
10.1109/IMTC.1996.507357
