An Operator Interface for a Robot-Mounted, 3D Camera System: Project Pioneer

The purpose of Project Pioneer is to develop an exploratory robot capable of creating a three-dimensional photo-realistic map of the inside of the damaged Chornobyl Nuclear Reactor, measure the environmental and radioactive conditions, and collect samples of concrete from the physical structure to determine its mechanical stability. This paper describes the Virtual Reality interface for Pioneer’s three-dimensional mapping system. This interface addresses a wide variety of technical challenges, including several that are unique to the hostile Chornobyl environment. The Chornobyl Mapping System provides two modules: Acquisition and Analysis. The Acquisition module (CMAP Acquire) allows the operator to collect a series of images for later processing into a threedimensional mesh. CMAP Acquire also provides a suite of tools that assist the operator in collecting useful data, including an expert system for image analysis, a graphical overlay for distance estimation, and a three-dimensional image mosaic for situational awareness. The Analysis module (CMAP Analyze) provides access to the image database. The user can navigate a menu structure, and select a set of images for processing into a three-dimensional, photo-realistic mesh. The program provides a suite of tools that measure the dimensions of hazardous materials and physical structures without risk of radiation accumulation. The user can also combine three-dimensional meshes from different robot locations to build a “Virtual Chornobyl.” Plant managers can then use this data to plan additional Pioneer robot missions, and formulate strategies to stabilize the building. Chornobyl Mapping System, page 2