Engineering Papers⌕ Search
Home/Archive/DOE OSTI

DOE OSTI · 3018752

Pose Estimation for the Inspecta Project

Williams, Kyle Adrian [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Georgia Institute of Technology, Atlanta, GA (United States)]·Smartt, Heidi Anne [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)] (ORCID:0009000805257792)
View original source ↗Read source document ↗Export metadata ↓

Abstract

In this addendum report we take the lessons learned from our initial generic object pose estimation research described in (Smartt, et al., 2025) and apply it to metal cup seals, which are attached to items after an international nuclear safeguards inspection (i.e., metal cup seals may be attached to containers of spent nuclear fuel after an inspector has measured and verified the material). We have also refined our software pipeline and training techniques since the final Inspecta report and will describe that process here. The objective of this task is to allow a robot to acquire images of the engraved seal characters to confirm that the correct seal is attached to the correct container. However, the seal may be attached in any orientation and therefore the robot manipulator arm with a camera needs to align with the normal face of the seal.

Explore related subjects

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL PROTECTION

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Williams, Kyle Adrian [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Georgia Institute of Technology, Atlanta, GA (United States)], Smartt, Heidi Anne [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)] (ORCID:0009000805257792). 2025-12-01. Pose Estimation for the Inspecta Project. https://doi.org/10.2172/3018752

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related reports

DOE OSTI2026

Safeguards Technology Program FY2026 Mid-Year Report for Project WBS# 24.1.3.3: Development of Procedures for Th-U Radiochronometry of Uranium Particles by LG-SIMS

Implementing 230 Th- 234 U radiochronometry of environmental uranium particles by large geometry secondary ion mass spectrometry (LG-SIMS) requires assessment, validation, and technical support before safeguards conclusions can be drawn from the information. This project investigates the most challenging aspects of LG-SIMS particle radiochronometry 230 Th- 234 U measurements through a collaboration between LANL and NIST, to provide best practices and procedures for determining high quality ages with optimized uncertainties. This includes exploration of reducing detector backgrounds, investigating the best ways to report uncertainties, and establishing recommended instrument setups.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2026

FY26 Mid-Year Report

The goal of this project is to develop specific aspects of ultra-high-resolution microcalorimeter technologies that support IAEA Nuclear Material Laboratory needs and the goals of SP-1 19/NML-003 "Microcalorimetry Analysis Technique for NML" but are outside the scope of the SP-1. The focus is on commissioning, assembly, and testing of the microcalorimeter decay energy spectrometer with superconducting transition-edge sensors (TESs) and magnetic microcalorimeters (MMCs) in preparation for transfer to the IAEA Nuclear Material Laboratory.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗