A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chernobyl - Robotics Institute Carnegie Mellon University

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
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 1521 - 1527, October, 1998

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.

BibTeX

@conference{Maimone-1998-14765,
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 (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1998},
month = {October},
volume = {3},
pages = {1521 - 1527},
}