JSI Gamma Radiation Dataset and SLAM Map

Dataset

Description

Three files consisting of a txt file dataset of gamma radiation count observations, with SLAM estimated position, and a 2D SLAM map of the Jo┼żef Stefan Institute (JSI) TRIGA Mark II reactor hall.The JSI_radiation_data.txt consists of comma separated values, with a header row indicating the data types. Timestamp is with respect to Unix Epoch time (as is standard in ROS). Spatial coordinates of the robot x, y, z are in metres. As the robot is a ground level 2D robot, the SLAM estimate restricts the Z height to be roughly constant. Only x and y data are necessary. The counts data are in counts per second, indicating the number of events collected over a ~1 second time window by a CeBr3scintillator detector and mixed field analyser.The map file (.pgm) is a trinary (three value) map generated by SLAM via ROS (Robot Operating System). The three values related to occupied (obstacles and physical features, such as walls), unoccupied (free-space), and unknown.The map metadata file (.yaml) provides values to convert pixel position of the map file into coordinates (in metres).Data was originally collected 31/01/2020 (in ROS bag format), which was interrogated to provide the data in the .txt file.This dataset is then post-processed to provide interpolated maps of gamma radiation, based on the point observations and maps in these files.
Date made available7 May 2021
PublisherUniversity of Manchester Figshare

Research Beacons, Institutes and Platforms

  • Dalton Nuclear Institute

Keywords

  • UGV
  • Unmanned Ground Vehicle
  • TRIGA mark II reactor
  • Gamma radiation flux (cps)
  • Nuclear Engineering
  • Control Systems, Robotics and Automation

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