A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chernobyl

Mark Maimone, L. Matthies, James Osborn, Eric Rollins, James Teza, and Scott Thayer
Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98), October, 1998, pp. 1521 - 1527.


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Abstract
We present a stereoscopic mapping system for use in post-nuclear accident operations by the Pioneer robot. First we discuss a radiation shielded sensor array designed to tolerate extended cumulative dose using 4/spl times/ shielding. Next, we outline procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for the integration of range information into a 3-D, textured, metrically accurate surface mesh.

Notes

Text Reference
Mark Maimone, L. Matthies, James Osborn, Eric Rollins, James Teza, and Scott Thayer, "A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chernobyl," Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98), October, 1998, pp. 1521 - 1527.

BibTeX Reference
@inproceedings{Maimone_1998_689,
   author = "Mark Maimone and L. Matthies and James Osborn and Eric Rollins and James Teza and Scott Thayer",
   title = "A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chernobyl",
   booktitle = "Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98)",
   pages = "1521 - 1527",
   month = "October",
   year = "1998",
   volume = "3",
}