Real-Time Gamma Radioactive Source Localization by Data Fusion of 3D-LiDAR Terrain Scan and Radiation Data from Semi-Autonomous UAV Flights

Rapid and accurate reconnaissance in the event of radiological and nuclear (RN) incidents or attacks is vital to launch an appropriate response. This need is made stronger by the increasing threat of RN attacks on soft targets and critical infrastructure in densely populated areas. In such an event,...

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Published in:	Sensors (Basel, Switzerland) Vol. 22; no. 23; p. 9198
Main Authors:	Schraml, Stephan, Hubner, Michael, Taupe, Philip, Hofstätter, Michael, Amon, Philipp, Rothbacher, Dieter
Format:	Journal Article
Language:	English
Published:	Switzerland MDPI AG 26.11.2022 MDPI
Subjects:	3D-LiDAR terrain modelling Algorithms Altitude data fusion Dosimetry Flying-machines Gamma rays hazard detection Localization Measurement measurements of CBRN agents Methods Nuclear accidents Nuclear accidents & safety Nuclear energy Nuclear power plants Optical radar optimization Optimization techniques Photogrammetry Radiation Radiation, Background real-time gamma source localization Remote sensing Sensors Topography Unmanned aerial vehicles Austria New Jersey data fusion hazard detection optimization measurements of CBRN agents 3D-LiDAR terrain modelling real-time gamma source localization
ISSN:	1424-8220, 1424-8220
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Abstract	Rapid and accurate reconnaissance in the event of radiological and nuclear (RN) incidents or attacks is vital to launch an appropriate response. This need is made stronger by the increasing threat of RN attacks on soft targets and critical infrastructure in densely populated areas. In such an event, even small radioactive sources can cause major disruption to the general population. In this work, we present a real-time radiological source localization method based on an optimization problem considering a background and radiation model. Supported by extensive real-world experiments, we show that an airborne system using this method is capable for reliably locating category 3–4 radioactive sources according to IAEA safety standards in real time from altitudes up to 150 m. A sensor bundle including a LiDAR sensor, a Gamma probe as well as a communication module was mounted on a UAV that served as a carrier platform. The method was evaluated on a comprehensive set of test flights, including 28 flight scenarios over 316 min using three different radiation sources. All additional gamma sources were correctly detected, multiple sources were detected if they were sufficiently separated from each other, with the distance between the true source position and the estimated source averaging 17.1 m. We also discuss the limitations of the system in terms of detection limit and source separation.
AbstractList	Rapid and accurate reconnaissance in the event of radiological and nuclear (RN) incidents or attacks is vital to launch an appropriate response. This need is made stronger by the increasing threat of RN attacks on soft targets and critical infrastructure in densely populated areas. In such an event, even small radioactive sources can cause major disruption to the general population. In this work, we present a real-time radiological source localization method based on an optimization problem considering a background and radiation model. Supported by extensive real-world experiments, we show that an airborne system using this method is capable for reliably locating category 3–4 radioactive sources according to IAEA safety standards in real time from altitudes up to 150 m. A sensor bundle including a LiDAR sensor, a Gamma probe as well as a communication module was mounted on a UAV that served as a carrier platform. The method was evaluated on a comprehensive set of test flights, including 28 flight scenarios over 316 min using three different radiation sources. All additional gamma sources were correctly detected, multiple sources were detected if they were sufficiently separated from each other, with the distance between the true source position and the estimated source averaging 17.1 m. We also discuss the limitations of the system in terms of detection limit and source separation. Rapid and accurate reconnaissance in the event of radiological and nuclear (RN) incidents or attacks is vital to launch an appropriate response. This need is made stronger by the increasing threat of RN attacks on soft targets and critical infrastructure in densely populated areas. In such an event, even small radioactive sources can cause major disruption to the general population. In this work, we present a real-time radiological source localization method based on an optimization problem considering a background and radiation model. Supported by extensive real-world experiments, we show that an airborne system using this method is capable for reliably locating category 3-4 radioactive sources according to IAEA safety standards in real time from altitudes up to 150 m. A sensor bundle including a LiDAR sensor, a Gamma probe as well as a communication module was mounted on a UAV that served as a carrier platform. The method was evaluated on a comprehensive set of test flights, including 28 flight scenarios over 316 min using three different radiation sources. All additional gamma sources were correctly detected, multiple sources were detected if they were sufficiently separated from each other, with the distance between the true source position and the estimated source averaging 17.1 m. We also discuss the limitations of the system in terms of detection limit and source separation.Rapid and accurate reconnaissance in the event of radiological and nuclear (RN) incidents or attacks is vital to launch an appropriate response. This need is made stronger by the increasing threat of RN attacks on soft targets and critical infrastructure in densely populated areas. In such an event, even small radioactive sources can cause major disruption to the general population. In this work, we present a real-time radiological source localization method based on an optimization problem considering a background and radiation model. Supported by extensive real-world experiments, we show that an airborne system using this method is capable for reliably locating category 3-4 radioactive sources according to IAEA safety standards in real time from altitudes up to 150 m. A sensor bundle including a LiDAR sensor, a Gamma probe as well as a communication module was mounted on a UAV that served as a carrier platform. The method was evaluated on a comprehensive set of test flights, including 28 flight scenarios over 316 min using three different radiation sources. All additional gamma sources were correctly detected, multiple sources were detected if they were sufficiently separated from each other, with the distance between the true source position and the estimated source averaging 17.1 m. We also discuss the limitations of the system in terms of detection limit and source separation.
Audience	Academic
Author	Schraml, Stephan Hofstätter, Michael Amon, Philipp Rothbacher, Dieter Hubner, Michael Taupe, Philip
AuthorAffiliation	3 CBRN Protection GmbH, 1200 Vienna, Austria 1 AIT Austrian Institute of Technology GmbH, Giefinggasse 4, 1210 Vienna, Austria 2 RIEGL Laser Measurement Systems GmbH, Riedenburgstr. 48, 3580 Horn, Austria
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Copyright	COPYRIGHT 2022 MDPI AG 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. 2022 by the authors. 2022
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SubjectTerms	3D-LiDAR terrain modelling Algorithms Altitude data fusion Dosimetry Flying-machines Gamma rays hazard detection Localization Measurement measurements of CBRN agents Methods Nuclear accidents Nuclear accidents & safety Nuclear energy Nuclear power plants Optical radar optimization Optimization techniques Photogrammetry Radiation Radiation, Background real-time gamma source localization Remote sensing Sensors Topography Unmanned aerial vehicles
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Title	Real-Time Gamma Radioactive Source Localization by Data Fusion of 3D-LiDAR Terrain Scan and Radiation Data from Semi-Autonomous UAV Flights
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