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TELEMAN 2 : LASER SCANNING FOR CIRCULATION IN HAZARDOUS ENVIRONMENT OR FOR SPACE SENSORING FROM A 2D TV PERCEPTION WITH ADJUSTABLE WINDOW FOR THE 3D SCANNED NETWORK

Objective

Objectives

The main objective of the " TELEMAN 2 - LAST CHESS PAWN" project was to build a 3D sensor for remote operation in hazardous environments. The technology, based upon range finding information correlated with a computer slaved 2D camera, was to allow real time operation by reducing the computing time. Associated tools, such as slaved illumination, zoom and iris control were to improve environment identification by adjusting picture quality under operator command in this project and later by computer.
A hybrid perception system has been developed which is based on charge coupled device (CCD) and range cameras, for remote inspection within hazardous environments over a range of 1 to 25 m. The incorporation of certain automatic functions during the acquisition process (eg autofocus, autoiris and autointegration time) together with overlapping CCD and range sampling to simplify the operator's inspection task.

The CCD camera and range camera have functional characteristics that place them at the forefront of current technology. The design and realisation of the man machine interface sets the pace for future operator consoles. The range camera has already been demonstrated in nuclear power plant and the data acquired are being used to develop 3-dimensional world modelling software.
Exploitation
L.H.Conseil (France) has extended the work done for EDF in this project on the cumputerised control of the CCD camera by producing prototype that offers improved CCD integration-time control. Bertin is preparing the commercialisation of the laser range camera, and a complementary military version is under study. Building blocks developed in this project are being exploited through development and integration into the TELEMAN TM45 - IMPACT light inspection robot research machine project.
Work to be done

The "TELEMAN 2-LAST CHESS PAWN" development was to consist of reconfiguration and integration into a radiation-hardened housing of the following subsystems:

-two multiplexed range finders (long and short range)
-variable window scanning system
-slaved illumination, zoom, iris
-slaved 2D camera

Associated work on pattern recognition, definition of the physical environment for the 3D camera and database organisation was to be done in parallel.

Test strategy

The 3D sensor was to be industrially tested on site

-for fast and versatile 3D imaging
-for confirming the suitability of the component arrangement for the nuclear environment.

Funding Scheme

CSC - Cost-sharing contracts

Coordinator

Electricité de France
Address
6,Quai Watier
78401 Chatou
France

Participants (4)

Bertin & Cie
France
Address
Rue Louis Armand
13762 Les Milles
Empresa Nacional de Ingeniería y Tecnología SA
Spain
Address
17,Padilla
28006 Madrid
Etnoteam SpA
Italy
Address
Via Staro 4
20134 Milano
UNIVERSITY OF IOANNINA
Greece
Address
Domboli Street 30
1186 Ioannina