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Detecting heat sources from 3D thermal model of indoor environment

Recent developments in environment sensing and virtual modelling enabled the construction of virtual models of indoor environments with added thermal information. In this paper we present the methods for heat sources extraction from the 3D thermal model of an indoor environment. They are based on known image segmentation techniques but adjusted to work with 3D models with added thermal information. All data are acquired using an autonomous mobile robot platform equipped with 3D laser scanner and thermal imaging camera.