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

Robotics & Autonomous Systems

Turku University of Applied Sciences
University of Ghent

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › peer review

Samenvatting

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.

Originele taal-2	Engels
Titel	IEEE ICRA Workshop on Field Robotics
Aantal pagina's	6
DOI's	https://doi.org/10.48550/arXiv.2405.03514
Status	Gepubliceerd - 2024

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10.48550/arXiv.2405.03514

1 Afgelopen
1 Actief

BeyVAR: Beyond Visual Augmented Reality
Becquaert, M. (Promotor), Haelterman, R. (Promotor), Hamesse, C. (Onderzoeker), Troccoli Cunha, T. (Onderzoeker) & Drijkoningen, L. (Onderzoeker)
1/11/23 → 31/10/27
Project: Onderzoek
DAP/18-04: Development and integration of a military augmented reality system for Belgian Defence operations
Haelterman, R. (Promotor), De cubber, G. (Onderzoeker), Fréville, T. (Onderzoeker) & Hamesse, C. (Onderzoeker)
1/10/18 → 31/10/23
Project: Onderzoek

1 Artikel

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, blz. 11313-11320 8 blz.
Onderzoeksoutput: Bijdrage aan een tijdschrift › Artikel › peer review

Open Access
4 Citaten (Scopus)

1 Onderzoeksactiviteit bij een andere instelling

Turku University of Applied Sciences
Hamesse, C. (Bezoekende onderzoeker)
29 jan. 2024 → 16 feb. 2024
Activiteit: Een externe instelling bezoeken › Onderzoeksactiviteit bij een andere instelling

Citeer dit

@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

Samenvatting

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Vingerafdruk

Projecten

BeyVAR: Beyond Visual Augmented Reality

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

Onderzoekersoutput

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

Activiteiten

Turku University of Applied Sciences

Citeer dit