TY - GEN
T1 - Evaluation of LIDAR and GPS based SLAM on fire disaster in petrochemical complexes
AU - Shamsudin, Abu Ubaidah Bin
AU - Mizuno, Naoki
AU - Fujita, Jun
AU - Ohno, Kazunori
AU - Hamada, Ryunosuke
AU - Westfechtel, Thomas
AU - Tadokoro, Satoshi
AU - Amano, Hisanori
N1 - Funding Information:
ACKNOWLEDGMENT This research was supported by the Project of Development of Fire Fighting Robots Responding to Disaster in Energy and Industrial Infrastructures, and the CREST Recognition, Summarization, and Retrieval of Large-scale Multimedia Data.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/26
Y1 - 2017/10/26
N2 - Firefighter robot autonomy is important for fire disaster response robotics. SLAM is a key technology for the autonomy. We want to know if SLAM can be used in fire disasters. However, evaluating SLAM in an actual fire disaster is not possible because we cannot generate large fires in actual petrochemical complexes. In this study, we simulated a fire disaster, collected sensor data for different conditions in the fire disaster, and evaluated the accuracy of the SLAM. The fire effect for LIDAR was analyzed and the effect embedded in the LIDAR measurement simulator. Several sensor interval parameters used by a heat protection cover was also analyzed for protecting sensor from heat. The evaluation result show the best parameter is 1 s measurement and 9 s sensor cooling which the average accuracy of GPS and LIDAR based SLAM was in the range 0.25 - 0.36 m in the most difficult scenario in the petrochemical complex, has dimensions 1000 m × 600 m. Using the simulator enables us to evaluate the best interval parameter of GPS and LIDAR based SLAM at the fire disaster. The knowledge from the fire effect of the LIDAR could be used to improve LIDAR measurement in actual fire disasters.
AB - Firefighter robot autonomy is important for fire disaster response robotics. SLAM is a key technology for the autonomy. We want to know if SLAM can be used in fire disasters. However, evaluating SLAM in an actual fire disaster is not possible because we cannot generate large fires in actual petrochemical complexes. In this study, we simulated a fire disaster, collected sensor data for different conditions in the fire disaster, and evaluated the accuracy of the SLAM. The fire effect for LIDAR was analyzed and the effect embedded in the LIDAR measurement simulator. Several sensor interval parameters used by a heat protection cover was also analyzed for protecting sensor from heat. The evaluation result show the best parameter is 1 s measurement and 9 s sensor cooling which the average accuracy of GPS and LIDAR based SLAM was in the range 0.25 - 0.36 m in the most difficult scenario in the petrochemical complex, has dimensions 1000 m × 600 m. Using the simulator enables us to evaluate the best interval parameter of GPS and LIDAR based SLAM at the fire disaster. The knowledge from the fire effect of the LIDAR could be used to improve LIDAR measurement in actual fire disasters.
UR - http://www.scopus.com/inward/record.url?scp=85040245216&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85040245216&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2017.8088139
DO - 10.1109/SSRR.2017.8088139
M3 - Conference contribution
AN - SCOPUS:85040245216
T3 - SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
SP - 48
EP - 54
BT - SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017
Y2 - 11 October 2017 through 13 October 2017
ER -