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3D Visual Reconstruction as Prior Information for First Responder Localization and Visualization

Kaiser, Susanna and Linkiewicz, Magdalena Monika and Meißner, Henry and Baumbach, Dirk (2023) 3D Visual Reconstruction as Prior Information for First Responder Localization and Visualization. Sensors, 23(18) (7785), pp. 1-22. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s23187785. ISSN 1424-8220.

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Official URL: https://www.mdpi.com/1424-8220/23/18/7785


In professional use cases like police or fire brigade missions, coordinated and systematic force management is crucial for achieving operational success during intervention by the emergency personnel. A real-time situation picture enhances the coordination of the team. This situation picture includes not only an overview of the environment but also the positions, i.e., localization, of the emergency forces. The overview of the environment can be obtained either from known situation pictures like floorplans or by scanning the environment with the aid of visual sensors. The self-localization problem can be solved outdoors using the Global Navigation Satellite System (GNSS), but it is not fully solved indoors, where the GNSS signal might not be received or might be degraded. In this paper, we propose a novel combination of an inertial localization technique based on simultaneous localization and mapping (SLAM) with 3D building scans, which are used as prior information, for geo-referencing the positions, obtaining a situation picture, and finally visualizing the results with an appropriate visualization tool. We developed a new method for converting point clouds into a hexagonal prism map specifically designed for our SLAM algorithm. With this combination, we could keep the equipment for first responders as lightweight as required. We showed that the positioning led to an average accuracy of less than 1m indoors, and the final visualization including the building layout obtained by the 3D building econstruction will be advantageous for coordinating first responder operations.

Item URL in elib:https://elib.dlr.de/197376/
Document Type:Article
Title:3D Visual Reconstruction as Prior Information for First Responder Localization and Visualization
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Kaiser, SusannaUNSPECIFIEDhttps://orcid.org/0000-0003-3210-6259UNSPECIFIED
Date:10 September 2023
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Page Range:pp. 1-22
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Series Name:Advanced Inertial Sensors, Navigation, and Fusion
Keywords:indoor navigation; pedestrian dead reckoning; simultaneous localization and mapping; FootSLAM; collaborative mapping; professional use cases; prior maps; 3D building reconstruction
HGF - Research field:other
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:no assignment
DLR - Program:no assignment
DLR - Research theme (Project):no assignment
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Institute of Optical Sensor Systems > Security Research and Applications
Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Kaiser, Dr.-Ing. Susanna
Deposited On:19 Sep 2023 15:02
Last Modified:15 Feb 2024 17:51

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