1P1-G07 撮影画像における特徴点マッチングと三次元形状認識を用いた原子炉内状況調査への適用(【関東支部茨城ブロック】イバラキロボットテクノロジー)

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Preliminary examination of image processing was conducted using existing reactor inside images through a fiber scope in order to confirm applicability of 3D-mapping in a reactor as a part of development of 3D-measurement technology. The Upright SURF (Speeded Up Robust Features) was used to find corresponding points between two captured images. In case of images showing many similar textures or lack of texture, it was difficult to find corresponding points using SURF only. By coupling with a canny algorithm to detect edges of the inside structure, it was found that 3-D structure could be measured for rectilinear objects.