Research On 3D Fusion Reconstruction Method Of Nuclear Radiation Scene Space And Radiation Information

The application and promotion of nuclear technology-related industries such as nuclear power generation and irradiation can improve people’s living standards and reduce global warming.However,with the gradual decommissioning of nuclear facilities and the development of nuclear waste disposal,the risk of nuclear safety accidents also increases.Due to the limitations of ionizing radiation in the nuclear radiation environment,it is difficult for staffs to directly enter the accident site,so that they cannot grasp accurate and comprehensive information in a timely manner,causing difficulties for later disposal.In view of this,this thesis explores a three-dimensional fusion reconstruction method of nuclear radiation scene space and radiation information based on mobile robots,so as to achieve an accurate,comprehensive and three-dimensional visualization of the position and intensity of radiation information in three-dimensional space,which is a useful tool for later nuclear emergency or nuclear emergency.Lay a certain foundation for decommissioning disposal.Firstly,the background and significance of the subject research and the research status of3 D fusion reconstruction of nuclear radiation scene space and radiation information at home and abroad are introduced.The principle of traditional real-time 3D reconstruction method based on mobile robot is described,and the overall 3D reconstruction method flow is improved according to the characteristics of nuclear radiation environment.Secondly,in view of the fact that the camera is susceptible to radiation noise and the realtime requirements of mobile robots in the nuclear environment,the image processing hardware acceleration,features extraction and other technologies are studied,and improved robust features extraction is proposed.method.The extracted features contain less noise and lower projection error after matching.Then,using the advantages and characteristics of different sensors,various sensor fusion implementations are carried out in the scene space and radiation information fusion reconstruction.In the fusion reconstruction process,sensors such as IMU(Inertial Measurement Unit),RGBD camera,and gamma camera are used.The information of different sensors is obtained through calibration to reconstruct the space in three dimensions,and the reconstructed spatial information and radiation information are fused based on projection.Finally,an experimental system is built based on a mobile robot,and experiments such as histogram equalization acceleration,features extraction,three-dimensional reconstruction of spatial information,and fusion of spatial and radiation information are carried out.The final experimental results show that the method in this thesis can perform fusion reconstruction of nuclear radiation scene space and radiation information online,and the reconstructed map is a dense color 3D point cloud map.Compared with the latest same type of space scene and radiation information fusion system,it has better visualization effect.