3D Point Cloud Acquisition and Correction in Radioactive and Underwater Environments Using Industrial 3D Scanners

This study proposes a method to acquire an accurate 3D point cloud in radioactive and underwater environments using industrial 3D scanners. Applications of robotic systems at nuclear facility dismantling require 3D imaging equipment for localization of target structures in radioactive and underwater environments. The use of industrial 3D scanners may be a better option than developing prototypes for researchers with basic knowledge. However, such industrial 3D scanners are designed to operate in normal environments and cannot be used in radioactive and underwater environments. Modifications to environmental obstacles also suffer from hidden technical details of industrial 3D scanners. This study shows how 3D imaging equipment based on the industrial 3D scanner satisfies the requirements of the remote dismantling system, using a robotic system despite insufficient environmental resistance and hidden technical details of industrial 3D scanners. A housing unit is designed for waterproofing and radiation protection using windows, mirrors and shielding. Shielding protects the industrial 3D scanner from radiation damage. Mirrors reflect the light required for 3D scanning because shielding blocks the light. Windows in the waterproof housing also transmit the light required for 3D scanning with the industrial 3D scanner. The basic shielding thickness calculation method through the experimental method is described, including the analysis of the experimental results. The method for refraction correction through refraction modeling, measurement experiments and parameter studies are described. The developed 3D imaging equipment successfully satisfies the requirements of the remote dismantling system: waterproof, radiation resistance of 1 kGy and positional accuracy within 1 mm. The proposed method is expected to provide researchers with an easy approach to 3D scanning in radioactive and underwater environments.