Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Deployment of Aerial Robots after a major fire of an industrial hall
  with hazardous substances, a report   This technical report is about the mission and the experience gained during
the reconnaissance of an industrial hall with hazardous substances after a
major fire in Berlin. During this operation, only UAVs and cameras were used to
obtain information about the site and the building. First, a geo-referenced 3D
model of the building was created in order to plan the entry into the hall.
Subsequently, the UAVs were used to fly in the heavily damaged interior and
take pictures from inside of the hall. A 360{\deg} camera mounted under the UAV
was used to collect images of the surrounding area especially from sections
that were difficult to fly into. Since the collected data set contained similar
images as well as blurred images, it was cleaned from non-optimal images using
visual SLAM, bundle adjustment and blur detection so that a 3D model and
overviews could be calculated. It was shown that the emergency services were
not able to extract the necessary information from the 3D model. Therefore, an
interactive panorama viewer with links to other 360{\deg} images was
implemented where the links to the other images depends on the semi dense point
cloud and located camera positions of the visual SLAM algorithm so that the
emergency forces could view the surroundings.

29
The categories of this paper are: funct-an
9
The categories of this paper are: nlin
25
The categories of this paper are: patt-sol
6
The categories of this paper are: astro-ph
18
The categories of this paper are: econ
3
The categories of this paper are: physics
10
The categories of this paper are: q-bio
30
The categories of this paper are: q-alg
14
The categories of this paper are: math-ph
20
The categories of this paper are: acc-phys
19
The categories of this paper are: eess
5
The categories of this paper are: gr-qc
12
The categories of this paper are: nucl-th
16
The categories of this paper are: stat
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an