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Vol.9 No.2previous AASP17 (125-126-127-128-129-130-131-132-133-134-135-136-137-138-139-140-141-142) NT85

Academic Articles
Regular Paper Vol.9 No.2 (2017) p.97 - p.103

Effect of Detector Pose Uncertainty in Localization of Radiation Sources

Doyeon KIM1,*, Hanwool WOO1, Yonghoon JI1, Yusuke TAMURA1, Atsushi YAMASHITA1, and Hajime ASAMA1

1The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

For safety and certain removal of the melted down nuclear fuel debris, the localization of radiation sources should be required. In this paper, we propose an approach to estimate the accurate localization of radiation sources by utilizing a gamma-ray CT method with a detector mounted on a mobile robot that has a pose uncertainty. Gamma-ray CT method aggregates measurement data obtained from the detector to localize radiation sources. For applying gamma-ray CT method, detector’s position that the measurement data obtained is important. In a simulation experiment, we confirmed the detector’s position errors and correlated them with the accuracy of the localization of radiation sources.
Localization, radiation source, mobile robot, gamma-ray CT
Full Paper: PDF
Article Information
Article history:
Received 12 October 2016
Accepted 29 May 2017