Pose Estimation for Mobile Robots to Maximise Data Quality of Fixed-Focus Laser Diagnostics in Hazardous Environments

@article{West2018PoseEF,
  title={Pose Estimation for Mobile Robots to Maximise Data Quality of Fixed-Focus Laser Diagnostics in Hazardous Environments},
  author={Andrew West and S. Watson and B. Lennox},
  journal={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2018},
  pages={3599-3604}
}
Characterisation of nuclear environments is critical for long term operation and decommissioning. Laser Induced Breakdown Spectroscopy (LIBS) is an example of a scientific instrument that could be deployed to aid in characterisation of unknown environments. LIBS consists of a high intensity pulsed laser being focussed down onto a target to create a plasma, and optical emission from the plasma is then used to determine elemental composition of unknown materials. For robots deployed with these… Expand

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