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Rich 2D Mapping
Örebro University, School of Science and Technology, Örebro University, Sweden.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Fire fighting operations, sometimes, can put the life of fire fighters in threat. For example

an environment with potential fire risk and with the presence of gas bottles can

cause an explosion, besides other dangers, and certainly put the life of both the victims

and fire fighters at risk. Recent advancements in the field of robotics enabled to

develop a robotic system which can assist the fire fighters to avoid any human injury

and property damage. The live update of the map displayed on the operator’s screen,

while teleoperating the robot for search process, can help to properly plan the rescue

operation. This thesis details the implementation of a rich 2D mapping system for

FUMO2 a fire fighting assistant robot developed by AB Realisator. Rich 2D mapping

system produces an occupancy grid map, having the geometry and temperature of the

environment with position of fire extinguishers, by fusing different sensor modalities.

By rich we mean any type of additional information on top of the standard, geometric

only, 2D maps. A sensor fusion method is proposed to integrate the distance measurements

reported by a laser range finder, temperature readings acquired by a thermal IR

camera and the position of fire extinguishers delivered by visible spectrum camera

based object detector. The object detector detects the object in real time and is developed

utilizing the technique of cascade of boosted classifiers using MB-LBP features.

The proposed system is implemented on both FUMO2 a fire fighting assistant robot

and in Gazebo simulator for testing and evaluation.

Place, publisher, year, edition, pages
2014. , 86 p.
National Category
Computer Science
URN: urn:nbn:se:oru:diva-39800OAI: diva2:772080
Subject / course
Computer Engineering
Available from: 2014-12-16 Created: 2014-12-16 Last updated: 2014-12-17Bibliographically approved

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School of Science and Technology, Örebro University, Sweden
Computer Science

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