Simultaneous localization and mapping (SLAM) techniques are widely researched, since they allow the simultaneous creation of a map and the sensors’ pose estimation in an unknown environment. Visual-based SLAM techniques play a significant role in this field, as they are based on a low-cost and small sensor system, which guarantees those advantages compared to other sensor-based SLAM techniques. The literature presents different approaches and methods to implement visual-based SLAM systems. Among this variety of publications, a beginner in this domain may find problems with identifying and analyzing the main algorithms and selecting the most appropriate one according to his or her project constraints. Therefore, we present the three main visual-based SLAM approaches (visual-only, visual-inertial, and RGB-D SLAM), providing a review of the main algorithms of each approach through diagrams and flowcharts, and highlighting the main advantages and disadvantages of each technique. Furthermore, we propose six criteria that ease the SLAM algorithm’s analysis and consider both the software and hardware levels. In addition, we present some major issues and future directions on visual-SLAM field, and provide a general overview of some of the existing benchmark datasets. This work aims to be the first step for those initiating a SLAM project to have a good perspective of SLAM techniques’ main elements and characteristics.

This paper introduces a specific Multiple Program Multiple Data (MPMD) architecture designed to address the issues of nuclear instrumentation: pulse processing, real-time, multi-channel flexibility, dead-time management and programmability. The proposed architecture comprises a set of independent and programmable functional units. Their execution is driven by the pulses arrival. It is able to deal with nondeterministic events and program durations. The virtual prototype of the architecture is developed in cycle-accurate SystemC and shows promising results in terms of scalability while maintaining zero dead-time. This architecture paves the way for novel programmable embedded real-time pulse processing restricted until now to offline processing.

The CEA MONACO v2 a multichannel acquisition system dedicated to neutron and gamma measurements. It is unique as it integrates all the following features in one module: automatic generation of saturation curves, automatic generation of pulse discrimination curves, detector pulse characterization using the embedded oscilloscope module, pulse mode acquisitions in count rate or pulse height analysis, fluctuation mode and current mode acquisitions. Sensors are plugged to a single connector and the implemented operating modes run constantly in parallel. Firsly designed for on line local neutron and gamma measurements with gaseous detectors in reactor experiments, the MONACO v2 system will also be available for self-powered detectors thanks to its wide current mode working range. After two years of development, CEA teams tested two MONACO v2 prototypes in the Slovenian TRIGA Mark II research reactor in 2018, using CEA miniature ion chambers and SPNDs. The system is now ready for industrialization to be available on the nuclear instrumentation market.

International audienceRadiation Portal Monitors are deployed in linear networks to detect radiological material in motion. As a complement to single and multichannel detection algorithms, inefficient under too low signal-to-noise ratios, temporal correlation algorithms have been introduced. Test hypothesis methods based on empirically estimated mean and variance of the signals delivered by the different channels have shown significant gain in terms of a tradeoff between detection sensitivity and false alarm probability. This paper discloses the concept of a new hypothesis test for temporal correlation detection methods, taking advantage of the Poisson nature of the registered counting signals, and establishes a benchmark between this test and its empirical counterpart. The simulation study validates that in the four relevant configurations of a pedestrian source carrier under respectively high and low count rate radioactive backgrounds, and a vehicle source carrier under the same respectively high and low count rate radioactive backgrounds, the newly introduced hypothesis test ensures a significantly improved compromise between sensitivity and false alarm. It also guarantees that the optimal coverage factor for this compromise remains stable regardless of signal-to-noise ratio variations between 2 and 0.8, therefore allowing the final user to parametrize the test with the sole prior knowledge of background amplitude