Simultaneous material segmentation and 3D reconstruction in industrial scenarios

Recognizing material categories is one of the core challenges in robotic nuclear waste decommissioning. All nuclear waste should be sorted and segregated according to its materials, and then different disposal post-process can be applied. In this paper, we propose a novel transfer learning approach to learn boundary-aware material segmentation from a meta-dataset and weakly annotated data. The proposed method is data-efficient, leveraging a publically available dataset for general computer vision tasks and coarsely labeled material recognition data, with only a limited number of fine pixel-wise annotations required. Importantly, our approach is integrated with a Simultaneous Localization and Mapping (SLAM) system to fuse the per-frame understanding delicately into a 3D global semantic map to facilitate robot manipulation in self-occluded object heaps or robot navigation in disaster zones. We evaluate the proposed method on the Materials in Context dataset over 23 categories and that our integrated system delivers quasi-real-time 3D semantic mapping with high-resolution images. The trained model is also verified in an industrial environment as part of the EU RoMaNs project, and promising qualitative results are presented. A video demo and the newly generated data can be found at the project website

The DISTINCTIVE University Consortium: Structural Integrity

The Engineering and Physical Sciences Research Council (EPSRC) sponsored DISTINCTIVE consortium (Decommissioning, Immobilisation and Storage Solutions for Nuclear Waste Inventories) is developing technologies for civil infrastructure repair, in-situ subsurface waste immobilisation, and groundwater protection during construction and decommissioning. The consortium has contributed to the development of skilled cross-disciplinary civil engineers and scientists, that have the knowledge and experience required to develop engineering solutions tailored for application within radiologically contaminated sites. The Structural Integrity Theme focuses on challenges ranging from site-scale infrastructure preservation and restoration, through injectable ground barriers for risk mitigation, to the remote characterisation and handling of individual waste packages. The main aim of the theme is to develop novel engineering solutions, tailored for use on radiologically contaminated sites, for: ground protection; infrastructure characterisation; concrete restoration and waste characterisation. Technologies should minimise current, and future, radiation exposure of the workforce whilst providing economically viable engineering solutions