On-line 3D environment modeling system from time series image sequence for grasping the internal state of the primary containment vessel

Kawabata, Kuniaki   ; Matsumoto, Taku  ; Hanari, Toshihide ; Yashiro, Hiroshi*; Goto, Masataka*; Fukui, Rui*; Nakamura, Keita*

This paper describes an on-line 3D environmental modeling system from time-series images for monitoring the situation inside Primary Containment Vessel of nuclear power plant. The prototype system has been designed and implemented to sequentially execute the processes of remote image capture, image transfer over network and 3D modeling calculations. The demonstration test combining with a long-reach bendable modularized rail structure and monitoring robot was conducted. We report the experimental result and discuss future challenges.