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Paper Abstract and Keywords
Presentation 2013-12-20 16:30
3D Reconstruction from Underwater and Above Water Images for Debris Removal Planning at Fukushima Daiichi Nuclear Power Station
Akihito Seki, Oliver Woodford, Riccardo Gherardi, Makoto Hatakeyama, Junichi Shimamura, Ryuzo Okada, Bjorn Stenger, Roberto Cipolla (Toshiba) CNR2013-28
Abstract (in Japanese) (See Japanese page) 
(in English) This paper presents monocular image-based 3D reconstruction for inspection and planning decommissioning work at the Fukushima daiichi nuclear power station. Real-time feedback is required during the operation in order to assess the accuracy and quality of the 3D reconstruction. We have developed a system to estimate dense 3D structure and camera motion from a remote camera. Real-time calculation is achieved by parallel processing on both CPU and GPU. In our experiments, debris around a spent fuel pool was reconstructed from footage captured from above and underwater. We show 3D CAD models employed for removal planning that were created based on the reconstructed data.
Keyword (in Japanese) (See Japanese page) 
(in English) / / / / / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 372, CNR2013-28, pp. 41-44, Dec. 2013.
Paper # CNR2013-28 
Date of Issue 2013-12-13 (CNR) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CNR2013-28

Conference Information
Committee CNR  
Conference Date 2013-12-20 - 2013-12-20 
Place (in Japanese) (See Japanese page) 
Place (in English) Sanjo Conference Hall, UTokyo 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Interaction with Cloud Network Robots, etc. 
Paper Information
Registration To CNR 
Conference Code 2013-12-CNR 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) 3D Reconstruction from Underwater and Above Water Images for Debris Removal Planning at Fukushima Daiichi Nuclear Power Station 
Sub Title (in English)  
1st Author's Name Akihito Seki  
1st Author's Affiliation Toshiba Corporation (Toshiba)
2nd Author's Name Oliver Woodford  
2nd Author's Affiliation Toshiba Cambridge Rearch Laboratory (Toshiba)
3rd Author's Name Riccardo Gherardi  
3rd Author's Affiliation Toshiba Cambridge Rearch Laboratory (Toshiba)
4th Author's Name Makoto Hatakeyama  
4th Author's Affiliation Toshiba Corporation (Toshiba)
5th Author's Name Junichi Shimamura  
5th Author's Affiliation Toshiba Corporation (Toshiba)
6th Author's Name Ryuzo Okada  
6th Author's Affiliation Toshiba Corporation (Toshiba)
7th Author's Name Bjorn Stenger  
7th Author's Affiliation Toshiba Cambridge Rearch Laboratory (Toshiba)
8th Author's Name Roberto Cipolla  
8th Author's Affiliation Toshiba Cambridge Rearch Laboratory (Toshiba)
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Date Time 2013-12-20 16:30:00 
Presentation Time 30 
Registration for CNR 
Paper # IEICE-CNR2013-28 
Volume (vol) IEICE-113 
Number (no) no.372 
Page pp.41-44 
#Pages IEICE-4 
Date of Issue IEICE-CNR-2013-12-13 

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