In this paper, we aim at visualizing smoke-filled space in front of fire crews using millimetric wave radar sensor. Our proposed system is composed of the millimetric-wave radar, a stereo camera, and gyroscope sensor attached on them. Millimetric-wave has a property of filtering out smoke. The FM-CW millimetric-wave radar can output a 2D reflection density values from obstacles for one-time scanning in invisible space. As for visible space by eyesight, we utilize the 3D stereo camera which can

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... apture a 3D distance map with color information in an angular field of view. Both of the sensors have the capable of real-time scanning (10 frames/sec), and we manually operate them to scan target space. The scanned frame data is stored with 3D direction information from a gyroscope sensor. To construct the 3D space map, we integrate the 2D maps from the millimetric-wave radar and the 3D maps from the stereo camera using the gyroscope data.