University of Twente Student Theses
Thermal-Inertial Localization and 3D-Mapping to Increase Situational Awareness In Smoke-Filled Environments
Manen, B.R. van (2021) Thermal-Inertial Localization and 3D-Mapping to Increase Situational Awareness In Smoke-Filled Environments.
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| Abstract: | Fires in large indoor spaces such as industrial buildings and parking garages can lead to rapid smoke propagation, making it dangerous for firefighters to intervene. To increase situational awareness while planning the mission and operating a firefighting unmanned vehicle, a 3D map of the environment is therefore desired. Although visual localization and 3D mapping has been perfected in the last decade, long-wave infrared thermal localization and 3D mapping is a new research subject. Since 2016, a small number of thermal odometry algorithms have been published but an algorithm capable of providing a full thermal 3D map of the environment has yet to be released. During this Msc thesis, the first global 3D map using thermal images including detected loop closures is obtained. The developed system is also the first thermal-based 3D mapping algorithm to be tested inside an environment with smoke and fire. |
| Item Type: | Essay (Master) |
| Clients: | Saxion University of Applied Sciences, Enschede, Netherlands |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 54 computer science |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/86216 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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