3D Reconstruction of Radiation Sources Considering Objects in Measurement Environment by a Mobile Robot Equipped with a Gamma-ray Detector
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- KISHIMOTO Takuya
- The University of Tokyo
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- WOO Hanwool
- The University of Tokyo Akita Prefectural University
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- TAMURA Yusuke
- The University of Tokyo
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- SHIMAZOE Kenji
- The University of Tokyo
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- TAKAHASHI Hiroyuki
- The University of Tokyo
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- YAMASHITA Atsushi
- The University of Tokyo
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- ASAMA Hajime
- The University of Tokyo
Bibliographic Information
- Other Title
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- ガンマ線検出器を搭載した移動ロボットによる空間中の構造物を考慮した放射線源分布の3次元再構成
Abstract
<p>This study proposes a new method to reconstruct 3D radiation distribution considering objects in measurement environment. A mobile robot equipped with a gamma-ray detector and a 3D LiDAR is used. The gamma-ray CT is applied for image reconstruction. The mobile robot observes radiation at different points and localizes the position of the robot. In observing process, the robot makes environment map which is made from point clouds at multiple observing points. By using this map made from point clouds, precise reconstruction area is set and reconstruction is conducted in the designated area. Experimental results show the effectiveness of the proposed method.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 (0), 2A1-B10-, 2019
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390283659833996160
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- NII Article ID
- 130007774582
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed