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Gamma-Ray Imaging with Spatially Continuous Intensity Statistics

Greiff, Marcus LU ; Rofors, Emil LU ; Robertsson, Anders LU ; Johansson, Rolf LU orcid and Tyllström, Rikard LU (2021) 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems p.5234-5239
Abstract
Novel methods for the inference of radiation intensity
functions defined over known surfaces are proposed, intended
for use in surveying applications with mobile spectrometers.
Previous approaches, based on the maximum likelihood
expectation maximization (ML-EM) framework with Poisson
likelihoods, are extended to better handle spatially continuous
intensity statistics using ideas from Gaussian filtering. The
resulting algorithm is evaluated against a classical ML-EM
method, and a recently proposed sparse additive point source
localization (APSL) algorithm in a Monte-Carlo simulation
study. The new generalized ASPL (GASPL) is shown to
compare favorably in terms of estimation accuracy when... (More)
Novel methods for the inference of radiation intensity
functions defined over known surfaces are proposed, intended
for use in surveying applications with mobile spectrometers.
Previous approaches, based on the maximum likelihood
expectation maximization (ML-EM) framework with Poisson
likelihoods, are extended to better handle spatially continuous
intensity statistics using ideas from Gaussian filtering. The
resulting algorithm is evaluated against a classical ML-EM
method, and a recently proposed sparse additive point source
localization (APSL) algorithm in a Monte-Carlo simulation
study. The new generalized ASPL (GASPL) is shown to
compare favorably in terms of estimation accuracy when the
true intensity is not well described by a set of point sources.
Finally, the GASPL is used in an experiment where a detector is
mounted to an unmanned aerial vehicle to estimate the intensity
and location of radioactive sources placed in a meadow. (Less)
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author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proc. 2021 IEEE/RSJ Int. Conf.Intelligent Robots and Systems (IROS2021), Sep 27 - Oct 1, 2021, Prague, Czech Republic
pages
6 pages
conference name
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
conference location
Prague, Czech Republic
conference dates
2021-09-27 - 2021-10-01
project
THE FUTURE OF DRONES: TECHNOLOGIES, APPLICATIONS, RISKS AND ETHICS
UAS@LU: Autonomous Flight
RobotLab LTH
ELLIIT LU P06: Collaborative Robotic Systems
Semantic Mapping and Visual Navigation for Smart Robots
language
English
LU publication?
yes
id
fc938269-6644-470f-88b3-9f9cf73c93f6
date added to LUP
2021-11-19 22:07:08
date last changed
2021-12-03 02:18:10
@inproceedings{fc938269-6644-470f-88b3-9f9cf73c93f6,
  abstract     = {{Novel methods for the inference of radiation intensity<br/>functions defined over known surfaces are proposed, intended<br/>for use in surveying applications with mobile spectrometers.<br/>Previous approaches, based on the maximum likelihood<br/>expectation maximization (ML-EM) framework with Poisson<br/>likelihoods, are extended to better handle spatially continuous<br/>intensity statistics using ideas from Gaussian filtering. The<br/>resulting algorithm is evaluated against a classical ML-EM<br/>method, and a recently proposed sparse additive point source<br/>localization (APSL) algorithm in a Monte-Carlo simulation<br/>study. The new generalized ASPL (GASPL) is shown to<br/>compare favorably in terms of estimation accuracy when the<br/>true intensity is not well described by a set of point sources.<br/>Finally, the GASPL is used in an experiment where a detector is<br/>mounted to an unmanned aerial vehicle to estimate the intensity<br/>and location of radioactive sources placed in a meadow.}},
  author       = {{Greiff, Marcus and Rofors, Emil and Robertsson, Anders and Johansson, Rolf and Tyllström, Rikard}},
  booktitle    = {{Proc. 2021 IEEE/RSJ Int. Conf.Intelligent Robots and Systems (IROS2021), Sep 27 - Oct 1, 2021, Prague, Czech Republic}},
  language     = {{eng}},
  pages        = {{5234--5239}},
  title        = {{Gamma-Ray Imaging with Spatially Continuous Intensity Statistics}},
  year         = {{2021}},
}