TY - GEN
T1 - SLAM for robotic assistance to fire-fighting services
AU - Berrabah, Sid Ahmed
AU - Baudoin, Yvan
AU - Sahli, Hichem
PY - 2010
Y1 - 2010
N2 - In the event of an emergency, due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence of chemicals and, in parallel, image data is collected and forwarded to an advanced base station. One of the problems tackled in this project is the robot navigation. The used robot for the outdoor scenario is equipped with a set of sensors: camera, GPS, inertial navigation system (INS), wheel encoders, and ultrasounds sensors. The robot uses a Simultaneous Localization and Mapping (SLAM) approach to combine data from different sensors for an accurate positioning. The paper gives an overview on the proposed algorithm.
AB - In the event of an emergency, due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence of chemicals and, in parallel, image data is collected and forwarded to an advanced base station. One of the problems tackled in this project is the robot navigation. The used robot for the outdoor scenario is equipped with a set of sensors: camera, GPS, inertial navigation system (INS), wheel encoders, and ultrasounds sensors. The robot uses a Simultaneous Localization and Mapping (SLAM) approach to combine data from different sensors for an accurate positioning. The paper gives an overview on the proposed algorithm.
KW - Mobile robots
KW - Risky intervention
KW - VIEW-FINDER Project
KW - Visual simultaneous localization and mapping
UR - http://www.scopus.com/inward/record.url?scp=77958149389&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2010.5554978
DO - 10.1109/WCICA.2010.5554978
M3 - Conference contribution
AN - SCOPUS:77958149389
SN - 9781424467129
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 362
EP - 367
BT - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
T2 - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Y2 - 7 July 2010 through 9 July 2010
ER -