Research output per year
Research output per year
Abstract
Novel methods for the inference of radiation intensity
functions defined over known surfaces are proposed, intended
for use in surveying applications with mobile spectrometers.
Previous approaches, based on the maximum likelihood
expectation maximization (ML-EM) framework with Poisson
likelihoods, are extended to better handle spatially continuous
intensity statistics using ideas from Gaussian filtering. The
resulting algorithm is evaluated against a classical ML-EM
method, and a recently proposed sparse additive point source
localization (APSL) algorithm in a Monte-Carlo simulation
study. The new generalized ASPL (GASPL) is shown to
compare favorably in terms of estimation accuracy when the
true intensity is not well described by a set of point sources.
Finally, the GASPL is used in an experiment where a detector is
mounted to an unmanned aerial vehicle to estimate the intensity
and location of radioactive sources placed in a meadow.
functions defined over known surfaces are proposed, intended
for use in surveying applications with mobile spectrometers.
Previous approaches, based on the maximum likelihood
expectation maximization (ML-EM) framework with Poisson
likelihoods, are extended to better handle spatially continuous
intensity statistics using ideas from Gaussian filtering. The
resulting algorithm is evaluated against a classical ML-EM
method, and a recently proposed sparse additive point source
localization (APSL) algorithm in a Monte-Carlo simulation
study. The new generalized ASPL (GASPL) is shown to
compare favorably in terms of estimation accuracy when the
true intensity is not well described by a set of point sources.
Finally, the GASPL is used in an experiment where a detector is
mounted to an unmanned aerial vehicle to estimate the intensity
and location of radioactive sources placed in a meadow.
| Original language | English |
|---|---|
| Title of host publication | Proc. 2021 IEEE/RSJ Int. Conf.Intelligent Robots and Systems (IROS2021), Sep 27 - Oct 1, 2021, Prague, Czech Republic |
| Pages | 5234-5239 |
| Number of pages | 6 |
| Publication status | Published - 2021 Sept |
| Event | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems - Prague, Czech Republic Duration: 2021 Sept 27 → 2021 Oct 1 |
Conference
| Conference | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | Czech Republic |
| City | Prague |
| Period | 2021/09/27 → 2021/10/01 |
Subject classification (UKÄ)
- Control Engineering
Fingerprint
Dive into the research topics of 'Gamma-Ray Imaging with Spatially Continuous Intensity Statistics'. Together they form a unique fingerprint.Research output
- 1 Doctoral Thesis (compilation)
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Nonlinear Control of Unmanned Aerial Vehicles: Systems With an Attitude
Greiff, M., 2021 Oct 18, Lund University: Department of Automatic Control, Lund University. 308 p.Research output: Thesis › Doctoral Thesis (compilation)
Open AccessFile
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UAS@LU: Autonomous Flight
Bergström, J. (PI), Johansson, R. (PI), Robertsson, A. (Supervisor), Tyllström, R. (Research assistant), Laban, L. (Research student), Olofsson, B. (Supervisor) & Karayiannidis, Y. (Supervisor)
2021/10/01 → 2025/09/30
Project: Research
File -
RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
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