Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE credits
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.
2014. , 86 p.