Constructing 3D CAD models of complex structured environments using a scanning laser camera

The nature of the plant operated by British Nuclear Fuel Plc. (BNFL) dictates that most of the maintenance and decommissioning has to be performed robotically. In order to perform tasks robotically in an efficient and safe manner an accurate three dimensional volumetric model of the operating environment is required. There are several measurement systems available, employing different techniques, discussed later, that could be employed to map an environment. Following a review of these options, BNFL Engineers concluded that these would be unsuitable for the envisaged operations. Consequently, British Nuclear Fuels initiated a joint project with UK Robotics, formerly Advanced Robotic Research Ltd (ARRL), to investigate the technology and techniques that would be required to construct 3D CAD models of plant environments. The project delivered a prototype modelling system known as AEMS, Advanced Engineering Modelling System. This is being further refined by UK Robotics into a product called Architect to be launched in 1996. This paper describes the techniques and technologies developed during the project and experience gained using the system on plant at Sellafield. (UK)