Evaluation of LIDAR and GPS based SLAM on fire disaster in petrochemical complexes

Abu Ubaidah Bin Shamsudin, Naoki Mizuno, Jun Fujita, Kazunori Ohno, Ryunosuke Hamada, Thomas Westfechtel, Satoshi Tadokoro, Hisanori Amano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationSSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages48-54
Number of pages7
ISBN (Electronic)9781538639221
DOIs
Publication statusPublished - 2017 Oct 26
Event15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 - Shanghai, China
Duration: 2017 Oct 112017 Oct 13

Publication series

NameSSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference

Other

Other15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017
CountryChina
CityShanghai
Period17/10/1117/10/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Safety Research

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  • Cite this

    Shamsudin, A. U. B., Mizuno, N., Fujita, J., Ohno, K., Hamada, R., Westfechtel, T., Tadokoro, S., & Amano, H. (2017). Evaluation of LIDAR and GPS based SLAM on fire disaster in petrochemical complexes. In SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference (pp. 48-54). [8088139] (SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2017.8088139