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A Fire Reconnaissance Robot Based on SLAM Position, Thermal Imaging Technologies, and AR Display

Due to hot toxic smoke and unknown risks under fire conditions, detection and relevant reconnaissance are significant in avoiding casualties. A fire reconnaissance robot was therefore developed to assist in the problem by offering important fire information to fire fighters. The robot consists of th...

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Autores principales: Li, Sen, Feng, Chunyong, Niu, Yunchen, Shi, Long, Wu, Zeqi, Song, Huaitao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6891496/
https://www.ncbi.nlm.nih.gov/pubmed/31752251
http://dx.doi.org/10.3390/s19225036
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author Li, Sen
Feng, Chunyong
Niu, Yunchen
Shi, Long
Wu, Zeqi
Song, Huaitao
author_facet Li, Sen
Feng, Chunyong
Niu, Yunchen
Shi, Long
Wu, Zeqi
Song, Huaitao
author_sort Li, Sen
collection PubMed
description Due to hot toxic smoke and unknown risks under fire conditions, detection and relevant reconnaissance are significant in avoiding casualties. A fire reconnaissance robot was therefore developed to assist in the problem by offering important fire information to fire fighters. The robot consists of three main systems, a display operating system, video surveillance, and mapping and positioning navigation. Augmented reality (AR) goggle technology with a display operating system was also developed to free fire fighters’ hands, which enables them to focus on rescuing processes and not system operation. Considering smoke disturbance, a thermal imaging video surveillance system was included to extract information from the complicated fire conditions. Meanwhile, a simultaneous localization and mapping (SLAM) technology was adopted to build the map, together with the help of a mapping and positioning navigation system. This can provide a real-time map under the rapidly changing fire conditions to guide the fire fighters to the fire sources or the trapped occupants. Based on our experiments, it was found that all the tested system components work quite well under the fire conditions, while the video surveillance system produces clear images under dense smoke and a high-temperature environment; SLAM shows a high accuracy with an average error of less than 3.43%; the positioning accuracy error is 0.31 m; and the maximum error for the navigation system is 3.48%. The developed fire reconnaissance robot can provide a practically important platform to improve fire rescue efficiency to reduce the fire casualties of fire fighters.
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spelling pubmed-68914962019-12-18 A Fire Reconnaissance Robot Based on SLAM Position, Thermal Imaging Technologies, and AR Display Li, Sen Feng, Chunyong Niu, Yunchen Shi, Long Wu, Zeqi Song, Huaitao Sensors (Basel) Article Due to hot toxic smoke and unknown risks under fire conditions, detection and relevant reconnaissance are significant in avoiding casualties. A fire reconnaissance robot was therefore developed to assist in the problem by offering important fire information to fire fighters. The robot consists of three main systems, a display operating system, video surveillance, and mapping and positioning navigation. Augmented reality (AR) goggle technology with a display operating system was also developed to free fire fighters’ hands, which enables them to focus on rescuing processes and not system operation. Considering smoke disturbance, a thermal imaging video surveillance system was included to extract information from the complicated fire conditions. Meanwhile, a simultaneous localization and mapping (SLAM) technology was adopted to build the map, together with the help of a mapping and positioning navigation system. This can provide a real-time map under the rapidly changing fire conditions to guide the fire fighters to the fire sources or the trapped occupants. Based on our experiments, it was found that all the tested system components work quite well under the fire conditions, while the video surveillance system produces clear images under dense smoke and a high-temperature environment; SLAM shows a high accuracy with an average error of less than 3.43%; the positioning accuracy error is 0.31 m; and the maximum error for the navigation system is 3.48%. The developed fire reconnaissance robot can provide a practically important platform to improve fire rescue efficiency to reduce the fire casualties of fire fighters. MDPI 2019-11-18 /pmc/articles/PMC6891496/ /pubmed/31752251 http://dx.doi.org/10.3390/s19225036 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Li, Sen
Feng, Chunyong
Niu, Yunchen
Shi, Long
Wu, Zeqi
Song, Huaitao
A Fire Reconnaissance Robot Based on SLAM Position, Thermal Imaging Technologies, and AR Display
title A Fire Reconnaissance Robot Based on SLAM Position, Thermal Imaging Technologies, and AR Display
title_full A Fire Reconnaissance Robot Based on SLAM Position, Thermal Imaging Technologies, and AR Display
title_fullStr A Fire Reconnaissance Robot Based on SLAM Position, Thermal Imaging Technologies, and AR Display
title_full_unstemmed A Fire Reconnaissance Robot Based on SLAM Position, Thermal Imaging Technologies, and AR Display
title_short A Fire Reconnaissance Robot Based on SLAM Position, Thermal Imaging Technologies, and AR Display
title_sort fire reconnaissance robot based on slam position, thermal imaging technologies, and ar display
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6891496/
https://www.ncbi.nlm.nih.gov/pubmed/31752251
http://dx.doi.org/10.3390/s19225036
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