A new method has been developed to image surface contamination on-site by short range radiation emitters (such as alpha or beta particle emitters). The measurement is performed in direct contact with the contaminated surface and uses a solid scintillator coupled with Silicon Photomultiplier (SiPM) arrays. The signal readout is processed using a dedicated electronic. The experimental setup used to acquire the data, as well as the analysis procedure, are described and the results are discussed with regard to dismantling requirements. Image reconstruction is investigated using various algorithms. A proof of principle is performed in laboratory using a simple prototype and multiple alpha and beta sources. All the common beta and alpha emitters are detected (including tritium) and tests on gamma radiation are also performed. The minimum detectable activity is estimated to be 0.4 Bq/cm² for beta radiations (14C) and 0.3 Bq/cm² for alpha radiations (239Pu). Finally, promising discrimination capability of the prototype is highlighted.