Visual Simultaneous Localization And Mapping (VSLAM) methods applied to indoor 3D topographical and radiological mapping in real-time

New developments in the field of robotics and computer vision enable to merge sensors to allow fast real-time localization of radiological measurements in the space/volume with near real-time radioactive sources identification and characterization. These capabilities lead nuclear investigations to a more efficient way for operators' dosimetry evaluation, intervention scenarios and risks mitigation and simulations, such as accidents in unknown potentially contaminated areas or during dismantling operations. In this communication, we will present our current developments of an instrument that combines these methods and parameters for specific applications in the field of nuclear investigations.