Development of worksite visualization system for Fugen NPS, 2; Marker arrangement optimization using generic algorithm

Ishii, Hirotake*; Shimoda, Hiroshi*; Bian, Z.*; Izumi, Masanori ; Morishita, Yoshitsugu 

Improvement of tracking accuracy is an important issue when applying augmented reality to nuclear power plant fieldwork. Tracking accuracy depends highly on the marker arrangement when employing a tracking method using a camera and markers. Tracking accuracy becomes low if markers are pasted arbitrarily only on places that are easy to paste them onto. For those reasons, this study develops a marker arrangement optimization algorithm based on genetic algorithms. Tracking error caused by finite camera resolution is considered particularly in this study. A wheel tracking error computation method is developed to compute the tracking error from the marker arrangement. A genetic algorithm is adopted for obtaining higher tracking accuracy from an initial pool of marker arrangements using wheel tracking error computation as a fitness function. Trial results show that the tracking accuracy can be improved markedly by applying the marker arrangement optimization algorithm.