3D building reconstruction and thermal mapping in fire brigade operations

Abstract

Figure 1: a) Our setup featuring a depth sensor, thermal camera and head mounted display b) connected to a notebook for mobile operation. c) Real-time reconstruction of the staircase with an overlay of the thermal image. d) Mesh reconstructed from the structure of a room textured with the images of a thermal camera. ABSTRACTFire fighting remains a dangerous profession despite many recent technological and organizational measures. Sensors and technical systems can augment the performance of fire fighters to increase safety and efficiency during operation. An important aspect in that context is the awareness of location, structure and thermal properties of the environment. This paper focuses on the design and development of a mobile system, which can reconstruct a 3d model of a building's interior structure in real-time and fuses the visualization with the image of a thermal camera. In addition the position and viewing direction of the fire fighter within the model is determined and a thermal map can be generated from the gathered data, which could help an operational commander to guide his men during a mission.First tests with our system in different situations showed good results, being able to reconstruct different larger scenes and create thermal maps thereof.

Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020

“…It relies on simultaneously captured color and thermal images from different poses and employs standard photogrammetry pipelines. Schönauer et al (2013) provide real-time assistance for firefighters via thermal augmentation of live images within room-scale environments. In contrast, Borrmann et al (2013) mounted a terrestrial LiDAR, a thermal camera, and a color camera on a UGV to obtain colorized point clouds, enabling automated detection of windows and walls (Demisse et al, 2015).…”

Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020

“…In urban environments, thermal mapping [11] is commonly used for building inspection and relies on simultaneously captured color and thermal images from different poses and employs standard photogrammetry pipelines. Real-time assistance for firefighters is provided by Schönauer et al [12] via thermal augmentation of live images within room-scale environments.…”

Development of Agent Logic Programming Means for Multichannel Intelligent Video Surveillance

“…The main areas of application of this idea are detection, recognition and reidentification of people in intelligent video surveillance systems [5][6][7][8][9][10][11], medical applications, including remote detection of dangerous diseases by the airport security system [12][13][14][15], support of rescuers [16], interaction people with robots [17], agriculture [18,19], automatic video surveillance for serviceability and safety of equipment operation, thermal imaging odometry [20][21][22]. In this article, as an example, the problem of remote temperature estimation of body parts of people moving in the area of video surveillance will be considered.…”