MEMS LiDAR-Enabled Multi-Modal System for 3D Radiation Field Mapping

This paper reports, for the first time, a MEMS LiDARenabled multi-modal radiation mapping system that combines gamma imaging, RGB vision, and adaptive point cloud resampling. Two new methods are introduced: Gamma Heatmap Generation and Enhancement (GHGE), which improves source localization and separability of overlapping radiation fields, and Gamma Heatmap-guided Point Cloud Adjustment (GHPC), which adaptively increases local point density in high-radiation regions. Compared to conventional interpolation-only approaches, the proposed framework achieves up to 90 % reduction in full width at half maximum (FWHM) of radiation hotspots and a$2.6 \times$increase in local point density, enabling accurate and compact 3D radiation field reconstruction.