3D environment reconstruction based on images obtained by reconnaissance task in Fukushima Daiichi Nuclear Power Station

Hanari, Toshihide ; Kawabata, Kuniaki   

This paper describes our trials on 3-dimensional environment reconstruction from plural images for recognizing the status in the reactor building of Fukushima Daiichi Nuclear Power Station. Structure from Motion is one of photogrammetry techniques to estimate 3-dimensional structure of the objects and the camera's trajectory. We try to apply a Structure from Motion method and a pre-processing to plural images obtained by the reconnaissance task inside Primary Containment Vessel of Unit 3 using remotely operated vehicle. For improving a visibility, Multi-View Stereo is conducted the data obtained by Structure from Motion. In this paper, we report the results of the partial 3D reconstruction using SfM (Structure from Motion) and the visibility improvement of the 3D reconstructed data using MVS.