Development of Ultra-Portable 3D Mapping Systems for Emergency Services
arxiv(2024)
摘要
Miniaturization of cameras and LiDAR sensors has enabled the development of
wearable 3D mapping systems for emergency responders. These systems have the
potential to revolutionize response capabilities by providing real-time,
high-fidelity maps of dynamic and hazardous environments. We present our recent
efforts towards the development of such ultra-portable 3D mapping systems. We
review four different sensor configurations, either helmet-mounted or
body-worn, with two different mapping algorithms that were implemented and
evaluated during field trials. The paper discusses the experimental results
with the aim to stimulate further discussion within the portable 3D mapping
research community.
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