3D radiation imaging using mobile robot equipped with radiation detector

Doyeon Kim, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents a novel scheme for the three-dimensional (3D) reconstruction of radiation source distribution by using multiple viewpoint of detector. Detecting and localizing radiation source are required for nuclear safety, security, and surveillance when considering exposure to radiation. In such cases, 3D reconstructed information would greatly contribute to a better understanding of the spatial relation between radiation sources and a surrounding environment. Considering contamination of radiation for human, we used a mobile robot equipped with a detector because it is suitable to measure a radiation in multiple viewpoint. We assume that trajectory of the mobile robot with the detector (i.e., pose of the detector) is estimated by simultaneous localization and mapping (SLAM) scheme. Therefore, 3D radiation source distribution can be reconstructed by utilizing maximum likelihood expectation maximization (MLEM) method, which performs optimization based on all measured data and estimated detector poses. The result of the simulation experiment demonstrated that the proposed framework can accurately perform 3D reconstruction of radiation image in the indoor environment.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages444-449
Number of pages6
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Externally publishedYes
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Publication series

NameSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Volume2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

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  • Cite this

    Kim, D., Woo, H., Ji, Y., Tamura, Y., Yamashita, A., & Asama, H. (2018). 3D radiation imaging using mobile robot equipped with radiation detector. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (pp. 444-449). [8279253] (SII 2017 - 2017 IEEE/SICE International Symposium on System Integration; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279253