Sidewinder: Snake Robot's Stereo Vision System for Rescue in Collapsed Debris at Disaster Sites

Rikuto Nakamoto, Sota Shimizu, Tomoki Takamura, Alessandro Carfi, Fulvio Mastrogiovanni

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

1 Citation (Scopus)

Abstract

In this paper, the authors present Sidewinder, a unique stereo vision system for snake-shaped robots operating in search and rescue scenarios. The robot should navigate the environment by finding and passing through narrow spaces (i.e., forward vision task) and search for persons in need of rescue (i.e., panoramic vision task). Therefore, we propose two types of image mapping methods to generate respectively input images for stereo visual SLAM and person detection. This work presents preliminary results using Sidewinder's images as input for the ORS-SLAM2 for localization and mapping, and YOLO-v3, for person detection.

Original languageEnglish
Title of host publicationIECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
ISBN (Electronic)9781665480253
DOIs
Publication statusPublished - 2022
Event48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 - Brussels, Belgium
Duration: 2022 Oct 172022 Oct 20

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2022-October
ISSN (Print)2162-4704
ISSN (Electronic)2577-1647

Conference

Conference48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
Country/TerritoryBelgium
CityBrussels
Period22/10/1722/10/20

Keywords

  • disaster response support
  • forward vision
  • image mapping methods
  • multi-functional use
  • panoramic vision
  • person detection
  • rescue robot
  • snake robot
  • stereo visual SLAM
  • ultra-wide-angle high-definition camera
  • unique stereo vision system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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