Augmented Reality Technology For ITER-oriented Tele-operation

International Thermonuclear Experimental Reactor (ITER) is the major way of resolvingthe energy sources problem in the future. Because of the high vacuum, high radiationenvironment inside of the experimental reactor, we must remote operation the mechanical armto repair and clean the manipulator internal. The key point is to remote operation themechanical arm stable and accurately.By researching the Augmented Reality technology with tele-operation manipulatorsystem, we focus on developing the simulation platform of Augmented Reality, realizing thegathering the three dimensional (3D) data, importing and enhancing the display. Realizing thehuman machine interface technology. Measuring the attitude of the objective as the researchtarget. The main research content is as follows.ITER system inside often takes the form of block manufacturing and assembly,monolithic model can approximate as plane, the attitude of the target attitude measure can beconverted into for a single plane attitude problems. Scanning through the wall, can get pointcloud data containing plane information. This paper introduce the robust algorithm of fittingplane based on RANSAC. This method use RANSAC algorithm to detect and removeabnormal data points firstly, then fit the effective data points use least squares method,calculate the parameters of the plane to obtain the attitude of the plane. Due to with multiplerectangular plane in the internal environment of ITER, use the vertices monocular camera toget the image coordinates of the rectangle, by the pose estimation based on point featuremeasurement method, to calculate the pose of an unknown rectangular space in the cameracoordinate system. Scanning the model by the optical3D scanning system based on structuredlight principle, get the point clouds. And do the extraction, registration, reduction, packaging,consolidation, output of3D model data progress by the software Geomagic. By theclient/server mode of data transmission system for data transmission. And at last, buildaugmented reality software simulation platform to accomplish the importing ofthree-dimensional data and the display augmented reality.