Related papers: 3-D Volumetric Gamma-ray Imaging and Source Locali…
(Abridged) We present a new method for detecting and measuring compact sources in conditions of intense, and highly variable, fore/background. While all most commonly used packages carry out the source detection over the signal image, our…
Domestic service robots such as lawn mowing and vacuum cleaning robots are the most numerous consumer robots in existence today. While early versions employed random exploration, recent systems fielded by most of the major manufacturers…
The imaging Compton telescope COMPTEL aboard NASA's Compton Gamma-Ray Observatory has opened the MeV gamma-ray band as a new window to astronomy. COMPTEL provided the first complete all-sky survey in the energy range 0.75 to 30 MeV. The…
In a wide range of robotic applications, being able to create a 3D model of the surrounding environment is a key feature for autonomous tasks. In this research report, we present a statistical model to perform 3D reconstructions of the…
The COMPTEL instrument on the Compton Gamma Ray Observatory is used to measure the locations of gamma-ray bursts through direct imaging of MeV photons. In a comprehensive search, we have detected and localized 29 bursts observed between…
A future mission in medium-energy gamma-ray astrophysics would allow for many scientific advancements, e.g. a possible explanation for the excess positron emission from the Galactic Center, a better understanding of nucleosynthesis and…
Methods for source detection in high noise environments are important for single-photon emission computed tomography (SPECT) medical imaging and especially crucial for homeland security applications, which is our main interest. In the…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
I study the location of the $\gamma$-ray emission in blazar jets by creating a Compton-scattering approximation valid for all anisotropic radiation fields in the Thomson through Klein-Nishina regimes, which is highly accurate and can speed…
A novel data-processing method was developed to facilitate scintillation detector characterization. Combined with fan-beam calibration, this method can be used to quickly and conveniently calibrate gamma-ray detectors for SPECT, PET,…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data…
A sensitive survey of the MeV gamma-ray sky is needed to understand important astrophysical problems such as gamma-ray bursts in the early universe, progenitors of Type Ia supernovae, and the nature of dark matter. However, the study has…
We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Compton telescopes rely on the dominant interaction mechanism in the MeV gamma-ray energy range: Compton scattering. By precisely recording the position and energy of multiple Compton scatter interactions in a detector volume, a photon's…
GRETA, the Gamma-Ray Energy Tracking Array, is an array of highly-segmented HPGe detectors designed to track gamma-rays emitted in beam-physics experiments. Its high detection efficiency and state-of-the-art position resolution enable it to…
Simulation studies are presented regarding the performance of algorithms that localize point-like radioactive sources detected by a position sensitive portable radiation instrument (COCAE). The source direction is estimated by using the…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…