Publication detail

Unmanned Aircraft System-Based Radiological Mapping of Buildings

LÁZNA, T. GÁBRLÍK, P. SLÁDEK, P. JÍLEK, T. ŽALUD, L.

Original Title

Unmanned Aircraft System-Based Radiological Mapping of Buildings

Type

conference paper

Language

English

Original Abstract

The article focuses on acquiring a 3D radiation map of a building via a two-phase survey performed with an unmanned aircraft system (UAS). First, a model of the stud-ied building is created by means of photogrammetry. Then, radiation data are collected using a 2-inch NaI(Tl) detector in a regular grid at a distance of 2 m from all accessible surfaces of the building (i.e., the walls and the roof). The data are then georeferenced, filtered, projected to the building model, and interpolated to yield the detailed radiation map. A method to estimate the parameters of the radiation sources located inside is introduced and successfully tested, providing a localization accuracy in the order of meters. This task is aimed to deliver the proof of concept for employing such a mapping technique within nuclear safeguards. The acquisition of the radiation data was performed via a manual flight to ensure an appropriate safety level; in this context, it should be noted that the autonomous flight mode still requires major improvements in terms of safety.

Keywords

Meters; Solid modeling; Three-dimensional displays; Buildings; Manuals; Data models; Safety; autonomous aerial vehicles; nuclear materials safeguards; photogrammetry; radiation monitoring; radiation protection;3D radiation map; autonomous flight mode; building model; NaI(Tl) detector; nuclear safeguards; photogrammetry; radiation data; radiation map; radiation sources; regular grid; two-phase survey; unmanned aircraft system-based radiological mapping

Authors

LÁZNA, T.; GÁBRLÍK, P.; SLÁDEK, P.; JÍLEK, T.; ŽALUD, L.

Released

26. 12. 2022

Publisher

IEEE

ISBN

978-1-6654-7927-1

Book

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

2153-0866

Periodical

Proceedings of the International Conference on Intelligent Robots and Systems (Online)

State

United States of America

Pages from

1794

Pages to

1801

Pages count

8

URL

https://ieeexplore.ieee.org/document/9981415

BibTex

@inproceedings{BUT180756,
  author="Tomáš {Lázna} and Petr {Gábrlík} and Petr {Sládek} and Tomáš {Jílek} and Luděk {Žalud}",
  title="Unmanned Aircraft System-Based Radiological Mapping of Buildings",
  booktitle="2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
  year="2022",
  journal="Proceedings of the International Conference on Intelligent Robots and Systems (Online)",
  pages="1794--1801",
  publisher="IEEE",
  doi="10.1109/IROS47612.2022.9981415",
  isbn="978-1-6654-7927-1",
  issn="2153-0866",
  url="https://ieeexplore.ieee.org/document/9981415"
}