Accurate and Reliable 3D Sensing and Reconstruction for Teleoperation

摘要

The nuclear industries in the world are indebted with enormous liability for decontamination and decommission (D&D) of life-ended nuclear facilities. For dismantling tasks in high radiation/contamination areas, teleoperation is needed. However, practical experiences suggest that teleoperation is difficult, inefficient, and imprecise for complex D&D tasks. To overcome such difficulties, enhanced teleoperation methods have been proposed [1-3]. However, a key bottleneck that is common to all is the lack of a technology basis for accurate and reliable environmental perception. The current state-of-the-art in environment sensing and reconstruction is inadequate for robotics applications. To this end, this paper presents the development of high accuracy, reliability environmental sensing, reconstruction, and virtual modeling. The technique is integrated for conceptual demonstration of enhanced teleoperation.