Robot-Assisted 3D Mapping of Search and Rescue Environments

2008 ◽  
Author(s):  
Zhe Zhang ◽  
Goldie Nejat
Keyword(s):  
Search And Rescue ◽  
3D Mapping ◽  
Urban Search And Rescue ◽  
Scale Invariant ◽  
Depth Images ◽  
Localization And Mapping ◽  
Landmark Identification ◽  
Robust Recognition ◽  
Sift Keypoints ◽  
2D Images

In this paper a unique landmark identification method is proposed for identifying large distinguishable landmarks for 3D Visual Simultaneous Localization and Mapping (SLAM) in unknown cluttered urban search and rescue (USAR) environments. The novelty of the method is the utilization of both 3D (i.e., depth images) and 2D images. By utilizing a Scale Invariant Feature Transform (SIFT) -based approach and incorporating 3D depth imagery, we can achieve more reliable and robust recognition and matching of landmarks from multiple images for 3D mapping of the environment. Preliminary experiments utilizing the proposed methodology verify: (i) its ability to identify clusters of SIFT keypoints in both 3D and 2D images for representation of potential landmarks in the scene, and (ii) the use of the identified landmarks in constructing a 3D map of unknown cluttered USAR environments.

scholarly journals Advancements toward autonomous access hole detection for urban search and rescue

2021 ◽  
Author(s):  
Ben Waismark
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Depth Images ◽  
Access Hole ◽  
Entry Points ◽  
New Process ◽  
Added Benefit ◽  
Multiple Frames ◽  
Points Of View ◽  
Areas Of Interest

The collapse of buildings creates voids underneath rubble, where victims may be trapped. First responder crews arriving at a collapse scene are responsible for the location of access holes, among other tasks. Access holes are entry points through which rubble voids may be reached by search and rescue personnel. Previously presented work aimed to autonomously locate such holes, aiding concentration of resources to areas of interest, such as those leading into rubble. The work proposed improves upon existing work by increasing accuracy while reducing total number of detections. A new process is introduced for segmentation of colour and depth images, significantly improving the hole finding system’s accuracy. The ability to score holes based on multiple frames, considering various points of view is introduced. As an added benefit, matching holes across frames allows the algorithm to report holes once per group of matches, rather than once per frame.

scholarly journals Advancements toward autonomous access hole detection for urban search and rescue

2021 ◽  
Author(s):  
Ben Waismark
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Depth Images ◽  
Access Hole ◽  
Entry Points ◽  
New Process ◽  
Added Benefit ◽  
Multiple Frames ◽  
Points Of View ◽  
Areas Of Interest

The collapse of buildings creates voids underneath rubble, where victims may be trapped. First responder crews arriving at a collapse scene are responsible for the location of access holes, among other tasks. Access holes are entry points through which rubble voids may be reached by search and rescue personnel. Previously presented work aimed to autonomously locate such holes, aiding concentration of resources to areas of interest, such as those leading into rubble. The work proposed improves upon existing work by increasing accuracy while reducing total number of detections. A new process is introduced for segmentation of colour and depth images, significantly improving the hole finding system’s accuracy. The ability to score holes based on multiple frames, considering various points of view is introduced. As an added benefit, matching holes across frames allows the algorithm to report holes once per group of matches, rather than once per frame.

Urban Search and Rescue with Anti-pheromone Robot Swarm architecture

2021 ◽  
Author(s):  
Ruben Martin Garcia ◽  
Daniel Hernandez de la Iglesia ◽  
Juan F. de Paz ◽  
Valderi R. Q. Leithardt ◽  
Gabriel Villarrubia
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Robot Swarm

scholarly journals Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue

2012 ◽  
Vol 19 (3) ◽  
pp. 46-56 ◽  
Author(s):  
Teodor Tomic ◽  
Korbinian Schmid ◽  
Philipp Lutz ◽  
Andreas Domel ◽  
Michael Kassecker ◽  
...  
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Research Platform ◽  
Indoor And Outdoor

Mobile Robotic Issues for Urban Search and Rescue

2008 ◽  
Vol 41 (2) ◽  
pp. 3098-3103 ◽  
Author(s):  
Gurvinder S. Virk ◽  
Yiannis Gatsoulis ◽  
Mudassir Parack ◽  
Afsha Kherada
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue

Unmanned aerial systems (UAS) in urban search and rescue-methodology, capacity development, and integration

2021 ◽  
Vol 19 (1) ◽  
pp. 33-38
Author(s):  
Ariel Braverman, BSc, RN, EMT-P
Keyword(s):  
Situational Awareness ◽  
Search And Rescue ◽  
Unmanned Aerial Systems ◽  
Urban Search And Rescue ◽  
Emergency Operations ◽  
Ventilation Ducts ◽  
Speed Up ◽  
Modernization Process ◽  
Roadless Areas ◽  
Aerial Systems

This paper’s purpose is to establish a methodological basis for using unmanned aerial vehicles (UAV) in urban search and rescue (USAR). Modern USAR operations involve the location, rescue (extrication), and initial medical stabilization of individuals trapped in confined spaces or places with complicated access, eg, high structures. As a part of the ongoing modernization process, this paper explores possible options for UAV utilization in USAR operations. Today, UAV are already taking part in support emergency operations all over the world, and possible forms of operation for UAV in USAR environment can be in two primary modes: on-site and logistic chain. The on-site mode includes various capabilities of multilayer UAV array, mostly based on enhanced visual capabilities to create situational awareness and to speed-up search and rescue (SAR) process including using nanodrones for entering into confined places, ventilation ducts, and underground sewer channels can give to rescue teams’ opportunities to have eyes within ruins even before initial clearing process. Cargo drones will be able to bring equipment directly to high floors or roadless areas in comparison to wheeled transportation. The advantages of cargo drones operation are the ability of autonomous flight based on GPS or homing beacon and ability to provide logistics supports without involving additional personnel and vehicles and with no dependence on road conditions.

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