oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Rich 2D Mapping
Örebro University, School of Science and Technology.
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. , p. 86
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-39800OAI: oai:DiVA.org:oru-39800DiVA, id: diva2:772080
Subject / course
Computer Engineering
Supervisors
Examiners
Available from: 2014-12-16 Created: 2014-12-16 Last updated: 2018-01-11Bibliographically approved

Open Access in DiVA

fulltext(3168 kB)684 downloads
File information
File name FULLTEXT01.pdfFile size 3168 kBChecksum SHA-512
a3f04eaa5355fca9a8915d99a833f8c731e3603783690f8894e691b5ccd7e607eb98b575e2f047ea3c5e9c7dcbad97dac4144d4841648c8ad04bc9c2e616078c
Type fulltextMimetype application/pdf

By organisation
School of Science and Technology
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar
Total: 684 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 263 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf