GPR_Analysis_JSI.py (5.66 kB)

GPR analysis script for JSI radiation dataset

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posted on 07.05.2021, 10:57 by Andrew WestAndrew West
Python code to import point gamma radiation observations collected by a Unmanned Ground Vehicle, and interpolate onto a map produced by robot SLAM (Simultaneous Localisation and Mapping).

Interpolation is performed using Gaussian Process Regression, via use of the freely available GPy library.

This code specifically imports the correct map files and robot datasets for analysis, as well as outputting the result to a comma separated file, based on data taken at the Jožef Stefan Institute (JSI) TRIGA Mark II reactor, Slovenia.

The "directory" variable can be altered to match that of the users requirements, i.e. where the dataset, map, and map metadata reside.

For such a large dataset, expect this to run for 10s of minutes on a fairly modern PC. GPy appears to have multicore support, so the whole machine may be co-opted to compute the regression and extract the estimated values for the map related data.

Funding

TORONE - TOtal characterisation for Remote Observation in Nuclear Environments

Engineering and Physical Sciences Research Council

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Robotics and Artificial Intelligence for Nuclear (RAIN)

Engineering and Physical Sciences Research Council

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

Engineering and Physical Sciences Research Council

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