ガンマ線検出器を搭載した移動ロボットによる複数放射線源の分布推定

概要

In this paper, we propose an approach for the three-dimentional reconstruction of radiation source distribution by using the gamma-ray CT with a mobile robot equipped with a detector in unknown environment. Slam is used for localization of a mobile robot, and MLEM is applied to radioactivity distribution mapping. It was confirmed that the combination of two methods is significantly effective by experiments.

収録
第19回計測自動制御学会システムインテグレーション部門講演会講演論文集, pp.665-667

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