University of Manchester
Browse
TEXT
JSI_radiation_data.txt (346.08 kB)
.PGM
JSI_SLAM_map.pgm (615.46 kB)
TEXT
JSI_SLAM_map.yaml (0.14 kB)
1/0
3 files

JSI Gamma Radiation Dataset and SLAM Map

dataset
posted on 2021-05-07, 10:57 authored by Andrew WestAndrew West
Three files consisting of a txt file dataset of gamma radiation count observations, with SLAM estimated position, and a 2D SLAM map of the Jožef Stefan Institute (JSI) TRIGA Mark II reactor hall.


The JSI_radiation_data.txt consists of comma separated values, with a header row indicating the data types. Timestamp is with respect to Unix Epoch time (as is standard in ROS). Spatial coordinates of the robot x, y, z are in metres. As the robot is a ground level 2D robot, the SLAM estimate restricts the Z height to be roughly constant. Only x and y data are necessary. The counts data are in counts per second, indicating the number of events collected over a ~1 second time window by a CeBr3 scintillator detector and mixed field analyser.

The map file (.pgm) is a trinary (three value) map generated by SLAM via ROS (Robot Operating System). The three values related to occupied (obstacles and physical features, such as walls), unoccupied (free-space), and unknown.

The map metadata file (.yaml) provides values to convert pixel position of the map file into coordinates (in metres).

Data was originally collected 31/01/2020 (in ROS bag format), which was interrogated to provide the data in the .txt file.

This dataset is then post-processed to provide interpolated maps of gamma radiation, based on the point observations and maps in these files.

Funding

TORONE - TOtal characterisation for Remote Observation in Nuclear Environments

Engineering and Physical Sciences Research Council

Find out more...

Robotics and Artificial Intelligence for Nuclear (RAIN)

Department for Business, Energy and Industrial Strategy

Find out more...

A centre for Advanced Digital Radiometric Instrumentation for Applied Nuclear Activities (ADRIANA)

Engineering and Physical Sciences Research Council

Find out more...

History