000			01953nab a2200205 4500
005			20260520001115.0
008			260224s2014 xxu ing
041			_aInglés
245	0	0	_aEvaluation of Navigation Sensors in Fire Smoke Environments
260			_a _b _cnov. 2014
270			_a06/12/2016 ; 27/07/2016
300			_a22 p. ; 1459-1481
520			_aTranscripción del resúmen realizada por el autor: An experimental study was performed to quantify the performance of eleven common robotic navigation rangefinding technologies and camera systems in fire smoke environments. Instruments evaluated included two IR cameras, two visible cameras, two sonar systems, radar, a single-echo LIDAR, a multi-echo LIDAR, a Kinect™ depth sensor, and night vision. Small-scale smoke layer experiments were performed to isolate the effect of smoke visibility and gas temperature on instrument performance. Dense, low temperature smoke tests were used to evaluate instrument performance as the smoke visibility dropped below 1 m while the smoke temperature remained below 100°C. Light, high temperature smoke tests were used to evaluate instrument performance as the smoke reached a temperature above 250°C with the visibility above 5 m. Results from the tests show that radar systems and infrared cameras outperform the other rangefinders and cameras tested for these scenarios. A series of large-scale experiments were then performed to locate objects in a smoke filled room and hallway. Distances from the LIDAR were subject to error when the visibility reduced below 4 m. Infrared stereo vision and radar could locate the distance to target objects immersed in the smoke to within 10% and 1%, respectively, independent of smoke visibility level.
581			_a6
773	0		_tFire Technology _g50
942			_cARTICULO
100	1		_aStarr, Joseph W. _954827
100	1		_aLattimer, B.Y. _955563
999			_c189684 _d189684