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Tracking Radioactive Sources through Sensor Fusion of Omnidirectional LIDAR and Isotropic Rad-Detectors

Tracking radioactive sources in large spaces has applications for homeland security, airport and port surveillance as well as military and security uses. Unfortunately, source localizing radiological detectors are extremely expensive, and those with low prices are isotropic - i.e. they integrate radiation from a sphere of directions centered at the sensor. In this paper, we show that omnidirectional depth sensors and isotropic radiological detectors have complementary strengths and can enable many applications. We model the source strength of radiological sources and integrate these with LIDAR measurements and a Kalman filter tracker. This enables applications such as tracking behind walls and detecting multiple radiological sources in the same scene.