Robust image selection method based on multi-modal detection for efficient 3D reconstruction from images

Hanari, Toshihide ; Kawabata, Kuniaki   ; Imabuchi, Takashi  

This presentation describes the results of 3D reconstruction based on images, introducing a robust image selection method by multi-modal detection for a remote operation on decommissioning tasks at the Fukushima Daiichi Nuclear Power Station. We have been developing a 3D reconstruction method based on images to improve the spatial awareness of the robot operators during the decommissioning tasks. For the display of 3D reconstruction models on demand of the operators, a reduction of the computational cost of 3D reconstruction is required. Thus, we tried to introduce an image selection process in the 3D reconstruction. We performed a verification of the 3D reconstruction introducing the proposed method to the image sequence. The results suggest that adequate images can be selected from the image sequence to reduce the computational cost of the 3D reconstruction, and the speed-up of the 3D reconstruction processes can be achieved for displaying the 3D model on demand of the operators.