3D Modeling of Environments Contaminated with Chemical, Biological, Radiological and Nuclear (CBRN) Agents

摘要

CBRN Crime Scene Modeler (C2SM) is a prototype 3D modeling system for first responders investigating environments contaminated with Chemical, Biological, Radiological and Nuclear agents. The prototype operates on board a small robotic platform or a hand-held device. The sensor suite includes stereo and high resolution cameras, a long wave infra red camera, chemical detector, and two gamma detectors (directional and non-directional). C2SM has been recently tested in field trials where it was teleoperated within an indoor environment with gamma radiation sources present. The system has successfully created multi-modal 3D models (geometry, colour, IR and gamma radiation), correctly identified location of radiation sources and provided high resolution images of these sources.