移動ロボットによる3次元ガンマ線イメージングと線源位置推定
3-D Volumetric Gamma-ray Imaging and Source Localization with a Mobile Robot
コンプトンガンマカメラを自己位置推定可能な地上ロボットに搭載し、走行経路に沿って取得した放射線画像を統合して3次元ボクセルマップを構築、複数の線源を平均0.2mの精度で位置推定した。
著者: Michael S. Lee, Matthew Hanczor, Jiyang Chu, Zhong He, Nathan Michael, Red Whittaker
分類: cs.RO
原文アブストラクト
Radiation detection has largely been a manual inspection process with point sensors such as Geiger-Muller counters and scintillation spectrometers to date. While their observations of source proximity prove useful, they lack the directional information necessary for efficient source localization and characterization in cluttered environments with multiple radiation sources. The recent commercialization of Compton gamma cameras provides directional information to the broader radiation detection community for the first time. This paper presents the integration of a Compton gamma camera with a self-localizing ground robot for accurate 3D radiation mapping. Using the position and orientation of the robot, radiation images from the gamma camera are accumulated over a traversed path in a shared frame of reference to construct a consistent voxel grid-based radiation map. The peaks of the map at pre-specified energy windows are selected as the source location estimates, which are compared to the ground truth source locations. The proposed approach localizes multiple sources to within an average of 0.2 m in two 5 x 4 m^2 and 14 x 6 m^2 laboratory environments.
