大規模火災後の有害物質を含む産業施設における空中ロボットの展開報告
Deployment of Aerial Robots after a major fire of an industrial hall with hazardous substances, a report
ベルリンの大規模火災後の有害物質を含む産業施設の偵察にUAVとカメラのみを用い、3Dモデル作成や360度画像収集、視覚SLAMによるデータ整理とインタラクティブパノラマビューアの実装を行った報告。
著者: Hartmut Surmann, Dominik Slomma, Stefan Grobelny, Robert Grafe
分類: cs.RO
原文アブストラクト
This technical report is about the mission and the experience gained during the reconnaissance of an industrial hall with hazardous substances after a major fire in Berlin. During this operation, only UAVs and cameras were used to obtain information about the site and the building. First, a geo-referenced 3D model of the building was created in order to plan the entry into the hall. Subsequently, the UAVs were used to fly in the heavily damaged interior and take pictures from inside of the hall. A 360{\deg} camera mounted under the UAV was used to collect images of the surrounding area especially from sections that were difficult to fly into. Since the collected data set contained similar images as well as blurred images, it was cleaned from non-optimal images using visual SLAM, bundle adjustment and blur detection so that a 3D model and overviews could be calculated. It was shown that the emergency services were not able to extract the necessary information from the 3D model. Therefore, an interactive panorama viewer with links to other 360{\deg} images was implemented where the links to the other images depends on the semi dense point cloud and located camera positions of the visual SLAM algorithm so that the emergency forces could view the surroundings.
