信息与控制2024，Vol.53Issue(6)：701-711,11.DOI:10.13976/j.cnki.xk.2024.3343
3维环境下基于LVI-SAM的放射区域重建与定位框架
Framework for the Reconstruction and Localization of Radiological Areas Based on LVI-SAM in 3D Environments
祁子玺 1刘欣 1程兰 1续欣莹 1阎高伟1
作者信息
- 1. 太原理工大学电气与动力工程学院,山西 太原 030024
- 折叠
摘要
Abstract
The field of nuclear applications has always prioritized nuclear safety.A contemporary devel-opment in this area is the use of mobile robots possessing nuclear radiation detection sensors,replacing traditional manual detection methods.We propose an autonomous radiation map con-struction framework based on Lidar-Visual-Inertial odometry via Smoothing and Mapping(LVI-SAM)to solve the problem of localizing and monitoring surface radiation sources in an unknown three-dimensional(3D)environment using mobile robots equipped with LiDAR,cameras,inertial measurement units,and radiation detection sensors instead of manual radiation monitoring.The map construction framework merges simultaneous localization and mapping technology with radia-tion detection technology.Moreover,the map construction framework uses LiDAR and visual infor-mation to recreate the environment in three dimensions under the LVI-SAM framework.Then,the framework builds a raster map of the environment by downscaling and projecting the 3D point cloud.The position of the radiation source in the scene is acquired by using radiation sensors and the changed relationship of the LVI-SAM coordinate system.This approach fuses the radiation map and the 3D environment map;consequently,it facilitates the localization of the radiation area in the 3D environment.The experimental results of establishing a simulation environment in a robot operating system validate the effectiveness of building surface radiation maps in a 3D environment.关键词
同步定位与地图构建/地图融合/核辐射/3维重建/自主定位/点云地图Key words
simultaneous localization and mapping(SLAM)/map fusion/nuclear radiation/three-dimensional reconstruction/autonomous Localization/point cloud map分类
信息技术与安全科学引用本文复制引用
祁子玺,刘欣,程兰,续欣莹,阎高伟..3维环境下基于LVI-SAM的放射区域重建与定位框架[J].信息与控制,2024,53(6):701-711,11.
