Reconstruction and localization of radioactive area fusing images from Kinect and γ camera

Aiming at the visualization requirements of radioactive distribution information during the decommissioning of nuclear facilities and nuclear emergency disposal, a reconstruction and localization method of radioactive area fusing the image information from Kinect and γ camera was proposed. First, a combined imaging model of Kinect and γ camera was constructed and its joint calibration was implemented based on the special imaging method of γ camera. Second, based on the visual map construction method, a dense point cloud map of the radioactive environment was established and the pose of Kinect was obtained. Then, the radioactive distribution information was extracted from the γ camera images, and the point cloud of the radioactive area in the map was calculated according to the camera combination model. Finally, the 3D localization of the central area for γ camera imaging was performed based on the minimum bounding box. In the experiment, by synchronizing the Kinect and γ camera data with spatial alignment, the fusion of 3D distribution reconstruction model and radioactive scene map of the single point source was realized in the case of a few γ camera images. The root-mean-square error of the point source localization is 0.11 m in a laboratory environment of 8 × 12 m² , which verifies the effectiveness of the proposed method.