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Carnegie Mellon Robotics Institute

Initiated by the Department of Energy's International Nuclear Safety Program, an effort is underway to deliver and deploy a telerobotic diagnostic system for structural evaluation and monitoring within the Chernobyl Unit-4 shelter. A mobile robot, named Pioneer, will enter the damaged Chernobyl structure and deploy devices to measure radiation, temperature, and humidity; acquire core samples of concrete structures for subsequent engineering analysis; and make photo-realistic three-dimensional (3D) maps of the building interior. This paper details the later element, dubbed "C-Map", the Chernobyl Mapping System. C-Map consists of an automated 3D modeling system using stereo computer vision along with an interactive, virtual reality (VR) software program to acquire and analyze the photo-realistic 3D maps of the damaged building interior.

Keywords

Chernobyl, telerobotics, stereo vision, 3D surface reconstruction, virtual reality

Notes

Sponsor: NASA and DOE

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Lab(s) / Group(s): 3D Computer Vision Group

Associated Project(s): Pioneer

Text Reference

Theodore T. Blackmon, Scott Thayer, James Teza, , James Osborn, Martial Hebert, and et. al, "Virtual Reality Mapping System for Chernobyl Accident Site Assessment," Proceedings of the SPIE, February, 1999, pp. 338-345.

BibTeX Reference

@inproceedings{Thayer_1999_3747,
   author = "Theodore T. Blackmon and Scott Thayer and James Teza and and James Osborn and Martial Hebert and et. al",
   title = "Virtual Reality Mapping System for Chernobyl Accident Site Assessment",
   booktitle = "Proceedings of the SPIE",
   pages = "338-345",
   month = "February",
   year = "1999",
   volume = "3644",
}

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