Markerless tracking in nuclear power plants. A line segment-based approach

To develop augmented reality-based support systems, a tracking method that measures the camera's position and orientation in real time is indispensable. A relocalization is one step that is used to (re)start the tracking. A line-segment-based relocalization method that uses a RGB-D camera and coarse-to-fine approach was developed and evaluated for this study. In the preparation stage, the target environment is scanned with a RGB-D camera. Line segments are recognized. Then three-dimensional positions of the line segments are calculated, and statistics of the line segments are calculated and stored in a database. In the relocalization stage, a few images that closely resemble the current RGB-D camera image are chosen from the database by comparing the statistics of the line segments. Then the most similar image is chosen using Normalized Cross-Correlation. This coarse-to-fine approach reduces the computational load to find the most similar image. The method was evaluated in the water purification room of the Fugen nuclear power plant. Results showed that the success rate of the relocalization is 93.6% and processing time is 45.7 ms per frame on average, which is promising for practical use. (author)