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Robust Vision Using Retro Reflective Markers for Remote Handling in ITER

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Document pages: 16 pages

Abstract: ITER s working environment is characterized by extreme conditions, that deemmaintenance and inspection tasks to be carried out through remote handling. 3DNode is a hardware software module that extracts critical information from theremote environment during fine alignment tasks using an eye-in-hand camerasystem and updates the models behind the virtual reality-based remote handlingplatform. In this work we develop a retro-reflective marker-based version of 3DNode that estimates the pose of a planar target, the knuckle of the cassettelocking system, using the markers attached to its surface. We demonstrate apin-tool insertion task using these methods. Results show that our approachworks reliably with a single low-resolution camera and outperforms thepreviously researched stereo depth estimation based approaches. We concludethat retro-reflective marker-based tracking has the potential to be a keyenabler for remote handling operations in ITER.

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