Abstract


The objective of this study is to develop and evaluate a line feature-based tracking system that can be applied in NPPs (Nuclear Power Plants) for supporting fieldwork. This system uses line features for markerless tracking in NPP environment. At every frame, after matching 2D lines on image with 3D line landmarks in the environment whose position and orientation are registered in database, RANSAC-based method for solving P3L (Perspective 3 lines) problem are applied for calculating the position and orientation of the camera using the matched line pairs, then some new line features may be registered in the database using a geometry method. Bundle adjustment is applied for updating the position and direction of registered line landmarks by minimizing the total re-projection error of them. The result shows that the tracking frame rate is about 3~4 fps, and the average position error of camera position is about 160mm.

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(C) 2020 Hirotake Ishii