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A computer-assisted range image registration system for nuclear waste cleanup

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4 Author(s)
Gagnon, E. ; Spar Space Syst., Spar Aerosp. Ltd., Brampton, Ont., Canada ; Rivest, J.-F. ; Greenspan, M. ; Burtnyk, N.

Building a three-dimensional (3-D) computer-based representation of a large or complex scene from a set of range images requires assembling the range images so that they are spatially registered. This paper will present a technique for finding a homogeneous transformation between a pair of range images while making use of both range and intensity information obtained using a laser range scanner. A demonstrated application featuring this technique consists of building a 3-D representation of a nuclear dumpsite, which then serves to help control a teleoperated nuclear waste remediation system

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Instrumentation and Measurement, IEEE Transactions on  (Volume:48 ,  Issue: 3 )