Gaussian Process Regression of UGV Collected Gamma Radiation Data

West, Andrew

Gaussian Process Regression of UGV Collected Gamma Radiation Data

Posted on 2021-05-07 - 11:29 authored by Andrew West

Gamma radiation data, SLAM (Simultaneous Localisation And Mapping) maps, MCNP 6 simulation results, and python code for interpolation using Gaussian Process Regression of radiation data collected by an Unmanned Ground Vehicle.

Locations include the Lancaster University Neutron Laboratory (LUNL) and the Jožef Stefan Institute (JSI) TRIGA Mark II research nuclear reactor.

Data was collected by the TORONE project, using a Clearpath Jackal UGV, equipped with CeBr₃ scintillator detector and mixed field analyser. Point observations (location based on robot position estimates from SLAM) of gamma count rate is interpolated into a 2D estimated dosimetry map based on locations available for the robot to visit (denoted as free-space in the SLAM map).

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West, Andrew (2021). Gaussian Process Regression of UGV Collected Gamma Radiation Data. University of Manchester. Collection. https://doi.org/10.48420/c.5323571.v1

https://doi.org/10.48420/c.5323571.v1

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