Dahyeon Kim1, Jiyoung Min1, Yongwoo Song1, Chulsu Kim2, Junho Ahn1,*
Intelligent Automation & Soft Computing, Vol.36, No.2, pp. 2315-2331, 2023, DOI:10.32604/iasc.2023.034394
Abstract Existing firefighting robots are focused on simple storage or fire suppression outside buildings rather than detection or recognition. Utilizing a large number of robots using expensive equipment is challenging. This study aims to increase the efficiency of search and rescue operations and the safety of firefighters by detecting and identifying the disaster site by recognizing collapsed areas, obstacles, and rescuers on-site. A fusion algorithm combining a camera and three-dimension light detection and ranging (3D LiDAR) is proposed to detect and localize the interiors of disaster sites. The algorithm detects obstacles by analyzing floor segmentation and edge patterns using a mask… More >
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