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

Résultats de recherche: Chapitre dans un livre, un rapport, des actes de conférences › Contribution à une conférence › Revue par des pairs

Résumé

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.

langue originale	Anglais
titre	IEEE ICRA Workshop on Field Robotics
Nombre de pages	6
Les DOIs	https://doi.org/10.48550/arXiv.2405.03514
état	Publié - 2024

Accès au document

10.48550/arXiv.2405.03514

1 Terminé
1 Actif

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

1 Article

Depth-Visual-Inertial (DVI) Mapping System for Robust Indoor 3D Reconstruction
Hamesse, C., Vlaminck, M., Luong, H. & Haelterman, R., 2024, Dans: IEEE Robotics and Automation Letters. 9, 12, p. 11313-11320 8 p.
Résultats de recherche: Contribution à un journal › Article › Revue par des pairs

1 Activité de recherche auprès d'une autre institution

Turku University of Applied Sciences
Hamesse, C. (Chercheur invité)
29 janv. 2024 → 16 févr. 2024
Activité: Visiter une institution académique externe › Activité de recherche auprès d'une autre institution

Contient cette citation

@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",

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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

Résumé

Accès au document

Empreinte digitale

Projets

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

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

Résultat de recherche

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

Activités

Turku University of Applied Sciences

Contient cette citation