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Title |
Fire Detection Algorithm with Real-time Image Processing and Autonomous Driving Robot
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Authors |
한상석(Sangseok Han) ; 정호성(Hoseong Jeong) ; 김재민(Jae Min Kim) ; 윤영택(Yeongtaek Yoon) ; 김강수(Kang Su Kim) |
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DOI |
https://doi.org/10.11112/jksmi.2025.29.5.66 |
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Keywords |
화재 탐지; 욜로; 스테레오 비전; 자율 주행 로봇 Fire detection; Yolo; Stereo vision; Autonomous driving robot |
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Abstract |
This study presents a fire detection algorithm that integrates image processing techniques with an autonomous mobile robot system. To enable real-time object detection and segmentation within images, the You Only Look Once (YOLO) framework was employed. Multiple versions of the YOLO model were trained and evaluated to analyze their performance variations. Additionally, a stereo vision approach combining the Oriented FAST and Rotated BRIEF (ORB) algorithm with Semi Global Block Matching (SGBM) was utilized to estimate the actual distance to fire. To validate the accuracy of distance estimation, a series of experiments were performed. The integrated image processing techniques were employed together with an autonomous driving algorithm to support real-time execution on a mobile robotic platform. The proposed algorithm and the developed platform demonstrated effective real-time fire detection and notification capabilities within a simulated environment.
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