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An approach to gamma-ray imaging has been developed that enables near realtime volumetric (3D) imaging of unknown environments thus improving the utility of gamma-ray imaging for source-search and radiation mapping applications. The approach, herein dubbed scene data fusion (SDF), is based on integrating mobile radiation imagers with real-time tracking and scene reconstruction algorithms to enable a mobile mode of operation and 3D localization of gamma-ray sources. A 3D model of the scene, provided in real-time by a simultaneous localization and mapping (SLAM) algorithm, is incorporated into the image reconstruction reducing the reconstruction time and improving imaging performance. The SDF concept is demonstrated in this work with a Microsoft Kinect RGB-D sensor, a real-time SLAM solver, and a cart-based Compton imaging platform comprised of two 3D position-sensitive high purity germanium (HPGe) detectors. An iterative algorithm based on Compton kinematicsis used to reconstruct the gamma-ray source distribution in all three spatial dimensions. SDF advances the real-world applicability of gamma-ray imaging for many search, mapping, and verification scenarios by improving the tractiblity of the gamma-ray image reconstruction and providing context for the 3D localization of gamma-ray sources within the environment in real-time.

This paper presents the concept of real-time fusion of gamma-ray imaging and visual scene data for a hand-held mobile Compton imaging system in 3-D. The ability to obtain and integrate both gamma-ray and scene data from a mobile platform enables improved capabilities in the localization and mapping of radioactive materials. This not only enhances the ability to localize these materials, it provides important contextual information of the scene, which once acquired, can be reviewed and further analyzed subsequently. To demonstrate these concepts, the High-Efficiency Multimode Imager (HEMI) is used in a hand-portable implementation in combination with a Microsoft Kinect sensor. This sensor, in conjunction with open-source software, provides the ability to create a 3-D model of the scene and to track the position and orientation of HEMI in real-time. By combining the gamma-ray data and visual data, accurate 3-D maps of gamma-ray sources are produced in real-time. This approach is extended to map the location of radioactive materials within objects with unknown geometry.

The enormous advances in sensing and data processing technologies in combination with recent developments in nuclear radiation detection and imaging enable unprecedented and “smarter” ways to detect, map, and visualize nuclear radiation. The recently developed concept of three-dimensional (3-D) Scene-data fusion allows us now to “see” nuclear radiation in three dimensions, in real time, and specific to radionuclides. It is based on a multi-sensor instrument that is able to map a local scene and to fuse the scene data with nuclear radiation data in 3-D while the instrument is freely moving through the scene. This new concept is agnostic of the deployment platform and the specific radiation detection or imaging modality. We have demonstrated this 3-D Scene-data fusion concept in a range of configurations in locations, such as the Fukushima Prefecture in Japan or Chernobyl in Ukraine on unmanned and manned aerial and ground-based platforms. It provides new means in the detection, mapping, and visualization of radiological and nuclear materials relevant for the safe and secure operation of nuclear and radiological facilities or in the response to accidental or intentional releases of radioactive materials where a timely, accurate, and effective assessment is critical. In addition, the ability to visualize nuclear radiation in 3-D and in real time provides new means in the communication with public and facilitates to overcome one of the major public concerns of not being able to “see” nuclear radiation.

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The ability to localize and map the distribution of gamma-ray emitting radionuclides in 3D has applications ranging from medical imaging to nuclear security. In the case of radiological source search and nuclear contamination remediation, the deployment of freely moving detection systems such as handheld instruments or ground/aerial-based vehicles are critical in overcoming the inverse square law and complex shielding scenarios. Using contextual sensors, these systems can simultaneously generate 3D maps of the surrounding environment and track the position and orientation of the gamma-ray sensitive detectors in that environment. The fusion of contextual scene data and gamma-ray detector data to facilitate real-time 3D gamma-ray image reconstruction has been demonstrated with mobile HPGe and CdZnTe-based Compton cameras for gamma-ray energies ranging from a few hundred keV to several MeV. Here we apply this approach for lower energy (50−400 keV) gamma-rays, using a hand-held CdZnTe-based omnidirectional imaging system and an active coded mask imaging modality. We present our approach to real-time reconstruction using a scene data constrained GPUaccelerated list-mode MLEM algorithm and show results from several measurements in the lab and in the field.

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