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論文

Image selection method from image sequence to improve computational efficiency of 3D reconstruction; Application of fixed threshold to remove redundant images

羽成 敏秀; 中村 啓太*; 今渕 貴志; 川端 邦明

Journal of Robotics and Mechatronics, 36(6), p.1537 - 1549, 2024/12

本稿では、時系列画像から3次元モデルを効率的に生成するための画像選択法を導入した立体復元処理について述べる。効率的な立体復元に適した画像を得るために、時系列画像中の冗長画像を除去する画像選択法の適用を試みた。提案手法では、オプティカルフローと固定しきい値に基づいて、時系列画像から適切な画像を選択する。その結果、提案手法により、カメラで取得した時系列画像に基づく立体復元処理の計算量を削減することができた。その結果、立体復元精度を一定に保ったまま、立体復元処理の計算量を削減できることを確認した。

論文

Japan Atomic Energy Agency; Contribution to the decommissioning of the Fukushima Daiichi Nuclear Power Station and the reconstruction of Fukushima Prefecture at the Naraha center for Remote Control technology development

森本 恭一; 大野 貴裕; 角谷 聡洋; 吉田 萌夏; 鈴木 壮一郎

Journal of Robotics and Mechatronics, 36(1), p.125 - 133, 2024/02

福島第一原子力発電所の廃炉推進のための遠隔操作機器の開発実証施設として楢葉遠隔技術開発センターは設立され、2016年より運用が開始された。本センターのミッションは「福島第一原子力発電所の廃炉への支援」と「福島県の復興への貢献」であり、この論文では当センターでの実規模モックアップ試験に関連する設備、遠隔操作機器の開発用の要素試験設備、バーチャルリアリティーシステム等の説明およびその利用事例について紹介する。

論文

A Study on the effects of photogrammetry by the camera angle of view using computer simulation

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.

論文

Discrimination of Plant Structures in 3D Point Cloud Through Back-Projection of Labels Derived from 2D Semantic Segmentation

今渕 貴志; 川端 邦明

Journal of Robotics and Mechatronics, 36(1), p.63 - 70, 2024/02

In the decommissioning of Fukushima Daiichi Nuclear Power Station, radiation dose calculations using a 3D model of the workspace are performed to determine appropriate measures to reduce exposure. However, constructing a 3D model from 3D point cloud is costly. In order to separate the geometrical shape regions on 3D point cloud, we have been developing the structure discrimination method by 3D and 2D deep learning for contributing to 3D modeling automation technology. In this paper, we describe a method for transferring and fusing labels to handle 2D prediction label in 3D space. We propose an exhaustive label fusion method for plant facilities with intricate structures. In evaluation, we applied the method to a mock-up plant dataset and confirmed that it works effectively.

論文

Development of a robot simulator for decommissioning tasks utilizing remotely operated robots

鈴木 健太; 川端 邦明

Journal of Robotics and Mechatronics, 32(6), p.1292 - 1300, 2020/12

This paper describes the development of a robot simulator for remote decommissioning tasks in the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings utilizing remotely operated robots. The robot simulator was developed to provide a remote operation training environment to ensure operator proficiency. The developed simulator allows for calculating physical aspects such as the hydrodynamics for a remotely operated vehicle and the aerodynamics for an unmanned aerial vehicle. The disturbed camera view presented to an operator can be generated by setting parameters such as transparency, color, distortion, and noise. Moreover, we implemented a communication failure emulator on the simulator, while functionalities for calculating the integral dose and generating the gamma camera image were also implemented. Here, we discuss the functional requirements and introduce the implemented functionalities. It is demonstrated that the simulator was built using the developed functions and that it can be executed integrally.

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