Abstract
A possible method to support work inside a nuclear power plant (NPP) would be to take images of the environment with an RGB-D camera and conduct 3D reconstruction. The reconstructed model is useful for confirming the site in advance. However, in imaging inside an NPP, a lot of areas are occluded by pipes or machinery, resulting in omissions in the reconstructed model. We have proposed a method to fly a small mirror-mounted drone instead of a large drone equipped with an RGB-D camera and to capture the occluded area using mirror reflection. In this paper, we examined the feasibility of mirror-mounted drone by fabricating the actual equipment. With the flight test, the proposed drone was shown to fly stably even with the mirror. In addition, we developed a method for 3D reconstruction using images obtained in the imaging with the mirror-mounted drone. The proposed method estimates the mirror pose, reduce the noise of depth images and generate the reconstructed model. The evaluation showed that although noise remained in the reconstructed model, the imaging with fewer omissions was achieved with the mirror-mounted drone.
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Noda, A., Ueda, K., Ishii, H., Shimoda, H. (2023). 3D Reconstruction Using a Mirror-Mounted Drone: Development and Evaluation of Actual Equipment. In: da Silva, H.P., Cipresso, P. (eds) Computer-Human Interaction Research and Applications. CHIRA 2023. Communications in Computer and Information Science, vol 1996. Springer, Cham. https://doi.org/10.1007/978-3-031-49425-3_13
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