3D Compton Imaging by Use of Stereophotogrammetry and Pixelated CdZnTe

The capability of three-dimensional Compton imaging allows for mapping of radiological material in 3D environments. This work presents a technique to Compton image in 3D space with the projection of radiation images onto 3D environments or by means of a moving pixelated CdZnTe radiation detector. To track the moving detector and measure its pose in 3D space, a simultaneous localization and mapping system (SLAM), which consists of a stereo optical camera system, is combined with the University of Michigan Polaris II 4π Compton Camera. The optical camera setup has shown a maximum depth range of up to 10 meters in a lab setting and has a 10% standard error in position reconstruction sensitivity. The system can then depth adjust radiation images by projecting them onto depth maps or create 3D radiation images.