Development of Ultra-Portable 3D Mapping Systems for Emergency Services

Charles Hamesse; Timothée Fréville; Juha Saarinen; Michiel Vlaminck; Hiep Luong; Rob Haelterman

doi:10.48550/arXiv.2405.03514

Development of Ultra-Portable 3D Mapping Systems for Emergency Services

Charles Hamesse, Timothée Fréville, Juha Saarinen, Michiel Vlaminck, Hiep Luong, Rob Haelterman

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	IEEE ICRA Workshop on Field Robotics
Number of pages	6
DOIs	https://doi.org/10.48550/arXiv.2405.03514
Publication status	Published - 2024

Keywords

SLAM
3D point cloud
3D reconstruction
LiDAR

Access to Document

10.48550/arXiv.2405.03514

1 Finished
1 Active

DAP/22-01: Beyond Visual Augmented Reality (BeyVAR)
Becquaert, M. (Promotor), Haelterman, R. (Promotor) & Hamesse, C. (Researcher)
1/04/22 → 31/03/26
Project: Research
DAP/18-04: Development and integration of a military augmented reality system for Belgian Defence operations
Haelterman, R. (Promotor), De cubber, G. (Researcher), Fréville, T. (Researcher) & Hamesse, C. (Researcher)
1/10/18 → 31/10/23
Project: Research

1 Article

Depth-Visual-Inertial (DVI) Mapping System for Robust Indoor 3D Reconstruction
Hamesse, C., Vlaminck, M., Luong, H. & Haelterman, R., 2024, In: IEEE Robotics and Automation Letters. 9, 12, p. 11313-11320 8 p.
Research output: Contribution to journal › Article › peer-review

1 Research activity at another institution

Turku University of Applied Sciences
Hamesse, C. (Visiting researcher)
29 Jan 2024 → 16 Feb 2024
Activity: Visiting an external institution › Research activity at another institution

Cite this

@inproceedings{93e1e7b40c664f7fa853b8853463fdac,

title = "Development of Ultra-Portable 3D Mapping Systems for Emergency Services",

abstract = "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. ",

keywords = "SLAM, 3D point cloud, 3D reconstruction, LiDAR",

author = "Charles Hamesse and Timoth{\'e}e Fr{\'e}ville and Juha Saarinen and Michiel Vlaminck and Hiep Luong and Rob Haelterman",

year = "2024",

doi = "10.48550/arXiv.2405.03514",

language = "English",

booktitle = "IEEE ICRA Workshop on Field Robotics",

}

TY - GEN

T1 - Development of Ultra-Portable 3D Mapping Systems for Emergency Services

AU - Hamesse, Charles

AU - Fréville, Timothée

AU - Saarinen, Juha

AU - Vlaminck, Michiel

AU - Luong, Hiep

AU - Haelterman, Rob

PY - 2024

Y1 - 2024

N2 - 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.

AB - 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.

KW - SLAM

KW - 3D point cloud

KW - 3D reconstruction

KW - LiDAR

U2 - 10.48550/arXiv.2405.03514

DO - 10.48550/arXiv.2405.03514

M3 - Conference contribution

BT - IEEE ICRA Workshop on Field Robotics

ER -

Development of Ultra-Portable 3D Mapping Systems for Emergency Services

Abstract

Keywords

Access to Document

Fingerprint

Projects

DAP/22-01: Beyond Visual Augmented Reality (BeyVAR)

DAP/18-04: Development and integration of a military augmented reality system for Belgian Defence operations

Research output

Depth-Visual-Inertial (DVI) Mapping System for Robust Indoor 3D Reconstruction

Activities

Turku University of Applied Sciences

Cite this