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中村 啓太; 羽成 敏秀; 松本 拓; 川端 邦明; 八代 大*
Journal of Robotics and Mechatronics, 36(1), p.115 - 124, 2024/02
During the decommissioning activities, a movie was shot inside the reactor building during the investigation of the primary containment vessel by applying photogrammetry, which is one of the methods for three-dimensional (3D) reconstruction from images, to the images from this movie, it is feasible to perform 3D reconstruction of the environment around the primary containment vessel. However, the images from this movie may not be suitable for 3D reconstruction because they were shot remotely by robots owing to limited illumination, high-dose environments, etc. Moreover, photogrammetry has the disadvantage of easily changing 3D reconstruction results by simply changing the shooting conditions. Therefore, this study investigated the accuracy of the 3D reconstruction results obtained by photogrammetry with changes in the camera angle of view under shooting conditions. In particular, we adopted 3D computer graphics software to simulate shooting target objects for 3D reconstruction in a dark environment while illuminating them with light for application in decommissioning activities. The experimental results obtained by applying artificial images generated by simulation to the photogrammetry method showed that more accurate 3D reconstruction results can be obtained when the camera angle of view is neither too wide nor too narrow when the target objects are shot and surrounded. However, the results showed that the accuracy of the obtained results is low during linear trajectory shooting when the camera angle of view is wide.
佐藤 優樹; 峯本 浩二郎*; 根本 誠*
Journal of Instrumentation (Internet), 16(10), p.C10008_1 - C10008_8, 2021/10
被引用回数：3 パーセンタイル：28.05(Instruments & Instrumentation)At the Fukushima Daiichi Nuclear Power Station (FDNPS) where the accident occurred due to large tsunami caused by the Great East Japan Earthquake of 11 March 2011, it is important to understand and visualize the distribution of radioactive substances in order to reduce exposure doses of workers and to establish decontamination plans. We focused on the importance of visualizing beta-emitting nuclides in addition to gamma-emitting ones to reduce the exposure dose of workers at the FDNPS, and proposed a method for three-dimensional (3-D) visualizing the position of beta-emitting ones. By combining directional Geiger-Mueller counter with Structure from Motion technology using a digital camera, we succeeded in visualizing a beta-emitting nuclide of 
Sr-source on the 3-D model of the working environment.
佐藤 優樹; 峯本 浩二郎*; 根本 誠*; 鳥居 建男
Journal of Nuclear Engineering and Radiation Science, 7(4), p.042003_1 - 042003_12, 2021/10
Technology for measuring and identifying the positions and distributions of radioactive substances is important for decommissioning work sites at nuclear power stations. A three-dimensional (3D) image reconstruction method that locates radioactive substances by integrating Structure-from-Motion (SfM) with a Compton camera (a type of gamma-ray imager) has been developed. From the photographs captured while freely moving in an experimental environment, a 3D structural model of the experimental environment was created. By projecting the radioactive substance image acquired by the Compton camera on the 3D structural model, the positions of the radioactive substance were visualized in 3D space. In a demonstration study, the 
Cs-radiation source was successfully visualized in the experimental environment captured by the freely moving cameras. In addition, how the imaging accuracy is affected by uncertainty in the self-localization of the Compton camera processed by SfM, and by positional uncertainty in the gamma-ray incidence determined by the sensors of the Compton camera was investigated. The created map depicts the positions of radioactive substances inside radiation work environments, such as decommissioning work sites at nuclear power stations.
佐藤 優樹
Physics Open (Internet), 7, p.100070_1 - 100070_8, 2021/05
To understand radiation information, such as dose rate and the position of radioactive substances in a radioactive working environment in detail, the author proposes the construction of a mirror world of the environment. In the proposed mirror world, the work environment is reproduced in a virtual space, and the radiation information measured in a real space is projected onto the virtual space. Note that in addition to displaying the radiation information in the virtual space, the visualization result of the radiation information in the virtual space is used for decision-making in the real space. It is seen that the radiation measurement in the real space and visualization of measurement results in the virtual space always interact. In this report, the author introduces an example of building the mirror world based on radiation measurements performed in a laboratory using Cs as a radiation source. In the laboratory, the dose rate was measured by using a survey meter together with a device for the simultaneous localization and mapping based on three-dimensional (3D) light detection and ranging. The measured dose rate was mapped onto the work environment in the virtual space. Technologies developed by the author, for example, the 3D visualization of the radiation source based on an integration of the Compton camera and structure-from-motion technology and the virtual-reality experience technology of the work environment that displays the source image were also used. The technology to project the radiation-source image into the real space using augmented-reality is also introduced in this report.
佐藤 優樹; 峯本 浩二郎*; 根本 誠*
Radiation Measurements, 142, p.106557_1 - 106557_6, 2021/03
被引用回数：2 パーセンタイル：30.55(Nuclear Science & Technology)It is important to visualize radioactive substances' position and distribution and estimate their radioactivity levels to reduce the exposure dose of workers in radioactive areas (such as decommissioning worksites of nuclear power stations) and improve nuclear security functions. To visualize the radioactive substance's three-dimensional (3D) location, a directional radiation detector with a cylindrical shield on a simple single-pixel gamma-ray detector was applied to the structure from motion (SfM) technology using an ordinary digital camera. Verification was performed by a system that combines SfM with a CdTe sensor probe having narrow directivity. 
Am radiation source's position was visualized by drawing the radiation source's image acquired by the gamma-ray detector on the work area 3D model reconstructed through SfM. Furthermore, as SfM is a simultaneous localization and mapping technology, the system measures the gamma rays while measuring the gamma-ray detector's dynamic position and posture information. The measurements can be acquired while the gamma-ray detector is freely moving in the work area. These methods visualized the radiation source's position and quantitatively estimated the radiation source's radioactivity.
佐藤 優樹; 鳥居 建男
Proceedings of International Youth Nuclear Congress 2020 (IYNC 2020) (Internet), 4 Pages, 2020/05
The Fukushima Daiichi Nuclear Power Station (FDNPS), operated by Tokyo Electric Power Company Holdings, Inc., suffered a meltdown as a result of a large tsunami triggered by the Great East Japan Earthquake on March 11, 2011. We have been conducting demonstration tests for detection of radioactive hotspots inside the FDNPS buildings using a Compton camera, a kind of gamma-ray imager. In this work, we introduced the 3D visualization of radioactive substances by using combination of the Compton camera and optical camera based on Structure from Motion (SfM). By taking photographs of the experimental environment while freely moving, a 3D structural model of the environment can be reconstructed from the multiple photographs, and the movement trajectory of the optical camera can be estimated simultaneously using the SfM. Furthermore, the radioactive substances can be visualized by drawing an image of the radioactive substances on the 3D structural model using gamma-ray data acquired by the Compton camera. In the demonstration, we succeeded in visualizing a Cs-radiation source on the 3D structural model of the experimental environment while freely moving these devices. This technology is useful for making it easy to recognize radioactive substances in decommissioning work site such as the FDNPS.
佐藤 優樹
no journal, ,
This presentation introduces the technique for 3-D mapping of dose-rate distributions in radiation-work environments. By combining a survey meter and Structure from Motion (SfM) technology, the values of the dose rate acquired by the survey meter are mapped on the 3-D virtual model of the work environment reconstructed by SfM. In addition, this method makes it possible to map the dose rate in the work environment while freely moving the survey meter. If the distribution of the dose rate can be visualized three-dimensionally, it is possible to reduce the exposure dose of workers and contribute to the planning of an efficient work plan.
中村 啓太*; 馬場 啓多*; 渡部 有隆*; 松本 拓; 羽成 敏秀; 川端 邦明
no journal, ,
本研究では、QRコードを用いた写真測量による立体復元結果の部分間レジストレーションによる統合手法を提案する。写真測量で獲得した復元結果は、復元ごとにスケーリングが異なるため統合が困難である。この問題を解決するために、大きさが既知のQRコードを復元対象環境に配置し、QRコードの大きさに基づいて復元結果をスケーリングし、スケーリングした復元結果をQRコードのマーカに基づいて統合する。本提案手法を検証するため、全画像から復元した結果と複数の復元結果を統合した結果の精度を比較した。検証結果から、精度を維持しつつ写真測量による3Dマッピングに要する時間の短縮に有効であることが示された。
