How do I know? you are light on significant detail there; where is the bed in relation to relevant features, how high is the bed, in what attitude is the child in bed, is the child on top of the covers or under them , how far will I be carrying the child, how heavy is the child, what do I have to negotiate after picking the child up in order to get out, can I fully open the door to the room, do I need a free hand at any point to open other doors or lock them.
Your call.
where is the bed in relation to relevant features - what features are relevant?
how high is the bed - normal height.
in what attitude is the child in bed - asleep on its back
is the child on top of the covers or under them - under them
how far will I be carrying the child - not relevant, I asked how would you carry a child you had just picked up
how heavy is the child - not very, the clue is in the word "small"
what do I have to negotiate after picking the child up in order to get out - cross a room to a window, or out one door and another, both left open for the purpose of easy getaway?
can I fully open the door to the room - possible to do whilst maintaining the child in a lateral position, especially if door is already ajar.
do I need a free hand at any point to open other doors or lock them - no need to lock a door but easy enough to use a hand to open a door left ajar. Use knee to push door closed.
Your call.