# HelpResponder--System for the Security of First Responder Interventions
## 5 Results
### Test site 2: Teresa Infrastructure
\begin{table}
\begin{tabular}{c|c|c|c|c} \hline \multirow{2}{*}{**Video Characteristics**} & \multirow{2}{*}{**Duration (Min)**} & \multicolumn{2}{c|}{**Frames (Total Number)**} & \multirow{2}{*}{**Resolution (Pixels)**} & \multirow{2}{*}{**Image Type**} \\ \cline{2-2} \cline{5-5}  & 1:00 & 1.800 & 640 \(\times\) 512 & Rainbow \\ \hline \multirow{2}{*}{**Detection metrics**} & \multicolumn{2}{c|}{**Accuracy (\%)**} & \multicolumn{2}{c|}{**Precision (\%)**} & \multicolumn{2}{c|}{**Recall (\%)**} & \multicolumn{1}{c}{**F1 Score (\%)**} \\ \cline{2-5}  & 0.73 & 0.99 & 0.70 & 0.82 \\ \hline \multirow{2}{*}{**Processing time**} & \multicolumn{2}{c|}{**No optional Parameters**} & \multicolumn{2}{c|}{**With Optional Parameters**} \\ \cline{2-5}  & **Complete Video (s)** & **1 Frame (s)** & **Complete Video (s)** & **1 Frame (s)** \\ \cline{2-5}  & 76 & 0.66 & 128 & 0.83 \\ \hline \end{tabular}
\end{table} 
Table 6: Characteristics of the video made in Teresa and the fire detection results obtained by applying the algorithm on the video. \begin{table}
\begin{tabular}{c c c c c} \hline \multicolumn{5}{c}{**Complete Video in Teresa**} \\ \hline
**Video** & **Duration** & **Total Number of Frames** & **Processing Time** & **False Positives** \\ \hline Complete Video & 8 min: 20 s & 15.000 frames & 42 min & 102 frames \\  & & & 0.68\% \\ \hline \multicolumn{5}{c}{**Clippings of the Video in Teresa.**} \\ \hline \multirow{2}{*}{**Video**} & \multirow{2}{*}{**Duration**} & \multirow{2}{*}{**Total Number of Frames**} & \multicolumn{2}{c}{**Processing Time**} \\ \cline{3-5}  & & & **Without Fire** & **With Fire** \\ \hline Clip 1 & 10 s & 300 frames & 1 min: 18 s & 54 s \\ Clip 2 & 30 s & 900 frames & 3 min: 59 s & 2 min: 49 s \\ Clip 3 & 45 s & 1.350 frames & 6 min: 11 s & 4 min: 45 s \\ Clip 4 & 60 s & 1.800 frames & 6 min: 45 s & 6 min: 26 s \\ \hline \end{tabular}
\end{table} 
Table 5: Vision algorithm results for fire detection. the location of the focus base: (a) is the point where the robot was located in the section, and (b) is the detection point. Related to the navigation, in this evaluation, the MGAV followed the beacons in the order B1\(\rightarrow\)B2\(\rightarrow\)B3\(\rightarrow\)B4. Figure 15a shows the system's position at each point and the maximum error respecting the actual trajectory, which is 0.330 m (see Table 7). Moreover, thanks to the location's support using the Beacon Sensor Network technology, it is calculated from a distance between peripherals beacons and the robot beacon, using a trilateration algorithm. Again, the experiment carried out in this subsection is conducted in a small area with a high density of nodes. Indeed, the precise location results (less than 1 m) cannot be obtained only with BLE, but in our case, it is integrated with IMU, which has high precision in the short term. Thus, by merging BLE + IMU/PDR, it is possible to reach an accuracy of 0.5 m, even in large buildings. Although the experiments have obtained excellent accuracy, with errors of about 0.5 m, it is enough to guide the robot and the firefighters. The focus was close to B3. The next evaluation was to monitor the firefighter steps following the beacons B1\(\rightarrow\)B2\(\rightarrow\)B3. The firefighter has a BLE device in their pocket and an IMU board in their boats. This monitoring done using the selected IMU location algorithm [30] provided a real-time position of the firefighter for the ACP. The reference axes for the table are those shown in Figure 15 (a--Real trajectory of a firefighter) (\"x\" positive to the left and \"y\" positive upwards). The error described is the perpendicular measurement of the firefighter's trajectory, with the point representing the step's location (see Figure 15a). The RSSI-based location algorithm uses a spherical positioning system [42] that simulates the radio circumferences of a distance calculated according to the RSSI from each beacon. When two or more circumferences intersect, it provides the position of that point, as seen in Figure 15b.