プラント内の直線を利用した拡張現実感用リローカリゼーション手法の開発

Abstract

Nuclear power plants have a lot of complex objects. There are few relocalization methods that can deal with such environment. Information of lines such as edges of pipes may make methods more stable. Thus, we propose a relocalization method that conduct narrowing processing with line information. This type of relocalization methods search for a image similar with input image from database. The proposed method utilizes line information such as number, length, angle and so on in order to narrow candidates for similar image. The proposed method was evaluated in Fugen nuclear power plant. In the result, the proposed method showed quick and accurate performance.