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It is generally difficult to measure complex shapes such as stairs with high accuracy for indoor environment scanning by the robot. Therefore, we consider the three-dimensional (3D) reconstruction of stairs using Structure from Motion (SfM) and Multi-View Stereo (MVS) which perform 3D reconstruction from images acquired by the robot vision. In this study, we verify whether it is possible to acquire a 3D reconstruction result of stairs by using images shot while ascending and descending the stairs as input to the reconstruction method. To calculate the accuracy of the reconstruction result, we use 3D computer graphics software to generate artificial image data to be applied to the 3D reconstruction. Experimental results show that 3D reconstruction results of the stairs are more accurate by applying both images shot when ascending and descending stairs to the 3D reconstruction methods.

This paper describes the development of PHITS Plugin for calculating an integral radiation dose for the estimation of the effects of radiation on robots. PHITS Plugin is an extension of Choreonoid, and it was developed to contribute to design the system of the robots and to plan remote operations. We discuss the functional requirements to compute the dose distribution for calculating the integral radiation dose during the physical simulation. Also, we demonstrate to calculate the dose distribution by utilizing multiple radiation source examples.

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