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Development of Scan Simulator for Automation of Nuclear Facility 3D Modeling
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During the decommissioning of nuclear facilities, 3D digital model that precisely describes the work environment can expedite the accomplishment of the work. Thus, the workers’ exposure to radiation is minimized and the safety risk to the workers is reduced, while precluding inadvertent effects on the environment. However, it is common that the 3D model does not exist for legacy nuclear facilities as most of the initial design drawings are 2D drawings and even some of the 2D drawings are missing. Even in the case that all of the 2D drawings are intact, these initial design drawings need to be updated using asbuilt data because facilities get modified through years of operation. In those cases, 3D scanning can be a good option to quickly and accurately generate a structure’s actual 3D geometric information. 3D scanning is a technique used to capture the shape of an object in the form of point cloud. Point cloud is a collection of large number of points on the external surfaces of objects measured by 3D scanners. The conversion of point cloud to 3D digital model is a labor-intensive process as a human worker needs to recognize objects in the point cloud and convert the objects into 3D model, even though some of the conversion process can be automated by using commercial software packages. With the aim of full automation of scan-to-3D-model process, deep learning techniques that take point cloud as input and generate corresponding 3D model have been studies recently. This paper introduces an efficient scan simulation method. The simulator generates synthetic point cloud data used to train deep learning models for classifying reactor parts in robotic nuclear decommissioning system. The simulator is built by implementing a ray-casting mechanism using a python library called ‘Pycaster’. In order to improve the speed of simulation, multiprocessing is applied. This paper describes the ray casting simulation mechanism and compares the in-house scan simulator with an open source sensor simulation package called Blensor.
