Flexible 3-D modelling of hostile environments with constrained viewpoint and multiple unknowns

Abstract : This paper describes the 3D geometric modelling of a nuclear waste room using the interactive vision software Pyramide. Pyramide was developed at CEA a few years ago for robotics applications. Therefore, models provided can be used straight to prepare and execute telerobotics missions. Modelling with Pyramide is made from video images. The software is strongly oriented to provide interactive functions. This allows the operator to adapt its modelling strategy according to the circumstances. Pyramide appeared to be well suited to this modelling application in reason of its versatility. Constraints on the modelling were indeed very strong: great number of parts, highly reflective material, restrained access and radioactive environment. Pyramide allowed to adapt modelling strategy and to take into account at the same time, a-priori knowledge on the scene, data captured on-line and unpredictable situation.
Type de document :
Communication dans un congrès
ISPRS Commission V Symposium, Sep 2002, Corfu, Greece, pp.175-180, 2002
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https://hal.inria.fr/inria-00100774
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Soumis le : mardi 26 septembre 2006 - 14:50:53
Dernière modification le : jeudi 11 janvier 2018 - 06:19:28

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  • HAL Id : inria-00100774, version 1

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Christophe Leroux, Philippe Even, Anne Lottin, Rodolphe Gelin, Jean-Marc Idasiak, et al.. Flexible 3-D modelling of hostile environments with constrained viewpoint and multiple unknowns. ISPRS Commission V Symposium, Sep 2002, Corfu, Greece, pp.175-180, 2002. 〈inria-00100774〉

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