I'm all for advances in technology making things safer and putting fewer people in harms way. I just don't think there is anything close to a 17% chance that it will happen in the next two decades. I say this as someone who has a foot in both worlds, so to speak... I work in technology, build UAV quadcopters (including playing with various sensors) as a hobbyist, and work at least one shift a week as a firefighter/paramedic.

Technological advances in recent years have made life much better in the fire service. Thermal imaging cameras have gotten lighter, with much larger thermal ranges. Gas detection has similarly lighter and more accurate. Breathing apparatus have gotten 'smarter' and lighter, allowing longer working times, less fatigue, and better insights for incident commanders on the status of their crews.

Research in fire development and behavior has led to significants advances in strategy and tactics. However, those tactical decisions are still well beyond the scope of what computers (and computer vision) are capable of. There is just too much variation in how homes are build and occupied (and modified).

Here are just a few of the issues I see:

-Moving an unconscious victim requires a fair amount of care, and I don't think robotics are there yet...

-'Reading' smoke coming from a structure gives a lot of insight into the design and occupancy of the structure. I think that's well beyond the current limits of computer vision and decision making.

-There are many activities performed by firefighters outside the scope of 'putting water on fire'. Responding to medical emergencies, technical rescue scenarios, etc... Extricating a victim of a car crash is a very delicate operation that employs equipment capable of exerting many thousands of pounds of force, and a few inches is the difference between freeing someone from a deformed care and crushing them to death...

Really the biggest issues I see have to do with tactical decision making based on a huge number of subtle variables (which would involve very sophisticated computer vision), and simply navigating in and around a structure. Designing a robot that can move autonomously through all areas of a house, into closets, under beds, etc, while still being strong enough to lift and move a disabled victim, or employee various tools seems like a pretty difficult problem to solve. How would you power it? Batteries aren't anywhere close to that point, and tethers would limit mobility too much.

Personally I think the next 20 years will see continued augmentation, rather than replacement of the men and women in the fire service. For instance, I would love to see an SCBA facepiece with an integrated heads up display providing an infrared image and levels of various gasses that are good indicators of air quality. Once we have that, I'd love the ability to switch between 'tank' air (which I carry a very limited amount of on my back) and 'filtered' air (which would just come from the environment, filtered for particulates, allowing me to save my bottle for when I need it).

I think there is also an opportunity for improved 'mapping' of structures as a firefighter moves through them (again, integrated on a HUD inside the facepiece). That would significantly reduce the number of deaths and injuries that occur when firefighters become disoriented and lost in zero-visibility situations.

This ended up being much longer than I expected it to be... TL;DR; The next 20 years will see augmentation, not replacement. Who knows what the 20 years after that will bring...