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Local Generating Map System Using Rviz ROS and Kinect Camera for Rescue Robot Application

Muharom Syahri, Firmansyah Riza Agung, Prabowo Yuliyanto Agung

International Journal of Electronics and Telecommunications

2023

Vol. 69, No. 3

621--626

This paper presents a model to generate a 3D model of a room, where room mapping is very necessary to find out the existing real conditions, where this modeling will be applied to the rescue robot. To solve this problem, researchers made a breakthrough by creating a 3D room mapping system. The mapping system and 3D model making carried out in this study are to utilize the camera Kinect and Rviz on the ROS. The camera takes a picture of the area around it, the imagery results are processed in the ROS system, the processing carried out includes several nodes and topics in the ROS which later the signal results are sent and displayed on the Rviz ROS. From the results of the tests that have been carried out, the designed system can create a 3D model from the Kinect camera capture by utilizing the Rviz function on the ROS. From this model later every corner of the room can be mapped and modeled in 3D.

Thermal imaging-based body temperature and respiratory frequency measurement system for security robot

Firmansyah Riza Agung, Prabowo Yuliyanto Agung, Suheta Titiek

Przegląd Elektrotechniczny

2022

R. 98, nr 6

126--130

Measurement of body temperature and respiration rate is the most basic screening in knowing a person's health. For security reasons and to prevent the spread of transmission, in the Covid-19 pandemic conditions, measurements can be made by security robots. Measurement of body temperature and respiration rate was done non-contact based on thermal imaging. Temperature measurement is based on the temperature in the face area, while the respiration rate is based on changes in temperature in the nose area. The ability to measure temperature gives an accuracy of 98.21% with a standard deviation of 0.536. And the best respiration rate is the fast Fourier transform method which gives an accuracy of 79.8% with a standard deviation of 3.291.

Pomiar temperatury ciała i częstości oddechów jest najbardziej podstawowym badaniem pozwalającym poznać stan zdrowia człowieka. Ze względów bezpieczeństwa oraz aby zapobiec rozprzestrzenianiu się transmisji, w warunkach pandemii Covid-19 pomiary mogą być wykonywane przez roboty zabezpieczające. Pomiaru temperatury ciała i częstości oddechów dokonano bezkontaktowo w oparciu o obrazowanie termiczne. Pomiar temperatury opiera się na temperaturze okolicy twarzy, a częstość oddechów na zmianach temperatury w okolicy nosa i ust. Możliwość pomiaru temperatury daje dokładność 98,21% przy odchyleniu standardowym 0,536. A najlepszą częstością oddychania jest szybka metoda transformacji Fouriera, która daje dokładność 79,8% przy odchyleniu standardowym 3,291.