In this paper, we describe a sensor module that monitors fire environment by analyzing fire characteristics. We analyzed the smoke characteristics of indoor fire. Six different environments were defined according to the type of smoke and the flame, and the sensors available for each environment were combined. Based on this analysis, the sensors were selected from the perspective of firefighter. The sensor module consists of an RGB camera, an infrared camera and a radar. It is designed with minimum weight to fit on the robot. the enclosure of sensor is designed to protect against the radiant heat of the fire scene. We propose a single camera mode, thermal stereo mode, data fusion mode, and radar mode that can be used depending on the fire scene. Thermal stereo was effectively refined using an image segmentation algorithm, SLIC (Simple Linear Iterative Clustering). In order to reproduce the fire scene, three fire test environments were built and each sensor was verified.

Abstract
 1. 서 론
 2. 화재 연기의 특성에 따른 대응센서분석
  2.1 화재 연기의 종류와 대응 센서
  2.2 연기 발생 형태에 따른 센서 대응 분석
 3. 센서 모듈 구성
  3.1 센서 모듈 구성
  3.2 영상 센서 Calibration
 4. 개별 모드 알고리즘 구성
  4.1 단일 카메라 센서 모드
  4.2 열화상 스테레오 모드
  4.3 다중 센서 융합 모드
  4.4 레이더 모드
 5. 실험 및 결과
  5.1 흰 연기 유입 실험
  5.2 검은 연기 유입 실험
  5.3 실화재 실험
  5.4 정량적 실험
 6. 결 론
 References

• 조민영(Korea Electronics Technology Institute) | Min-Young Cho
• 신동인(Korea Electronics Technology Institute) | Dong-In Shin
• 전세웅(Korea Electronics Technology Institute) | Sewoong Jun Corresponding author