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Visual Simultaneous Localization and Mapping (VSLAM) methods applied to indoor 3D topographical and radiological mapping in real-time

In this communication, we will present our current developments of an instrument that combines these methods and parameters for specific applications in the field of nuclear investigations. | Visual Simultaneous Localization and Mapping VSLAM methods applied to indoor 3D topographical and radiological mapping in real-time EPJ Nuclear Sci. Technol. 3 15 2017 Nuclear Sciences F. Hautot et al. published by EDP Sciences 2017 amp Technologies DOI 10.1051 epjn 2017010 Available online at http www.epj-n.org REGULAR ARTICLE Visual Simultaneous Localization and Mapping VSLAM methods applied to indoor 3D topographical and radiological mapping in real-time Felix Hautot1 3 Philippe Dubart2 Charles-Olivier Bacri3 Benjamin Chagneau2 and Roger Abou-Khalil4 1 AREVA D amp S Technical Department 1 route de la Noue 91196 Gif-sur-Yvette France 2 AREVA D amp S Technical Department Marcoule France 3 CSNSM IN2P3 CNRS Bat 104 et 108 91405 Orsay France 4 AREVA Corporate Innovation Department 1 place Jean Millier 92084 Paris La Défense France Received 26 September 2016 Received in final form 20 March 2017 Accepted 30 March 2017 Abstract. New developments in the field of robotics and computer vision enable to merge sensors to allow fast real-time localization of radiological measurements in the space volume with near real-time radioactive sources identification and characterization. These capabilities lead nuclear investigations to a more efficient way for operators dosimetry evaluation intervention scenarios and risks mitigation and simulations such as accidents in unknown potentially contaminated areas or during dismantling operations. In this communication we will present our current developments of an instrument that combines these methods and parameters for specific applications in the field of nuclear investigations. 1 Introduction Since the end of 2000s new emergent technologies in the field of video games and robotics enabled to consider fast Nuclear back-end activities such as decontamination and computations due to new embedded GPU and CPU dismantling lead stakeholders to develop new methods in architectures. Since the Microsoft Kinect has been released order to decrease .