Implementation of Trapped Personnel Detection and Evacuation Guidance in Indoor Fire Scene Based on Quadrotor UAV

DOI

10.2991/icca-16.2016.14How to use a DOI?

Keywords

Quadrotor UAV, Face detection, Navigation, Visual SLAM, Search and rescue

Abstract

This paper presents a solution to trapped personnel detection and evacuation guidance in indoor fire scene based on quadrotor UAV. Our approach purely relies on UAV’s own monocular camera as the main sensor, and therefore UAV can search and rescue in unknown, GPS-denied fire environments. In this paper, an effective method was proposed, which separated the mission into two parts: one was trapped personnel detection by using face detection algorithm, the other one was evacuation guidance, which was actually scale-aware navigation and path planning by using visual SLAM system. Costly computations were carried out on an external laptop that communicated with the quadrotor over wireless. The solution can be used directly with a Parrot AR.Drone quadrotor.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Danyu Bi
AU  - Youling Yu
AU  - Yong Shen
AU  - Melchiorri Claudio
PY  - 2016/01
DA  - 2016/01
TI  - Implementation of Trapped Personnel Detection and Evacuation Guidance in Indoor Fire Scene Based on Quadrotor UAV
BT  - Proceedings of the 2016 International Conference on Intelligent Control and Computer Application
PB  - Atlantis Press
SP  - 57
EP  - 62
SN  - 2352-538X
UR  - https://doi.org/10.2991/icca-16.2016.14
DO  - 10.2991/icca-16.2016.14
ID  - Bi2016/01
ER  -