ICRA'09 Paper Abstract


Paper FrD2.1

Baetz, Werner (University of Kassel), Kroll, Andreas (University of Kassel), Bonow, Gero (University of Kassel)

Mobile Robots with Active IR-Optical Sensing for Remote Gas Detection and Source Localization

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation - V" (FrD2), Friday, May 15, 2009, 15:30−15:50, Room: ICR

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Range Sensing, Reactive and Sensor-Based Planning, Localization


While other robots use in-situ measurements for gas leak detection and localization, we propose to apply remote sensing. It is easier and safer to conduct, permits rapid scans and is applicable to leak sources high up. An IR-optical sensor is used, exploiting spectral absorption effects of gases. Tailored leak detection and localization strategies are proposed. A simulation environment with a 3D model of the gas concentration field is used for developing and testing the detection and localization strategies. The system performance is demonstrated in a case study with a chemical plant.



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