Localized imaging and mapping for underwater fuel storage basins
Conference Paper, Proceedings of Waste Management Conference (WM '18), March, 2018
Abstract
Current methods for inspection of spent nuclear fuel storage basins involve lowering a single camera for visual inspection of walls and other structures. We present a localized inspection solution where the images are automatically annotated by localization information and a 3D model of the inspected area is generated. The system consists of an underwater sensor pod containing a stereo pair of cameras, light source, inertial measurement unit, and a pressure sensor. The sensors are time synchronized to provide precise measurements. We describe both the sensor pod and the algorithms that keep the pod localized. Preliminary results from in-air and underwater testing of a prototype are presented.
BibTeX
@conference{Hsiung-2018-109899,author = {J. Hsiung and Andrew Tallaksen and L. Papincak and Sudharshan Suresh and Heather Jones and Warren Whittaker and M. Kaess},
title = {Localized imaging and mapping for underwater fuel storage basins},
booktitle = {Proceedings of Waste Management Conference (WM '18)},
year = {2018},
month = {March},
}
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