Real-Time Gamma Radioactive Source Localization by Data Fusion of 3D-LiDAR Terrain Scan and Radiation Data from Semi-Autonomous UAV Flights

. 2022 Nov 26;22(23):9198. doi: 10.3390/s22239198

Algorithm 1 Radiological source localization algorithm

1:
INPUT: Background model $\bar{n_{B}}$ , Ground Model $G_{z}$ , Measurements $X_{i}$
2:
for $p o s i t i o n = (k, l) \in G$ do
3:
Compute $n_{m i n}$ , $n_{m a x}$
4:
Solve minimization problem $f_{m i n} = f (S_{k, l}, X_{i})$ with respect to $n_{0} \in [n_{m i n}, s t e p, n_{m a x}]$
5:
Build Cost map $C_{k, l} = f_{m i n}$
6:
end for
7:
Find global and local minima of cost map C using peak search algorithm.
8:
OUTPUT: $(x_{i}, y_{i})$ locate radiation point sources