A volumetric method for building complex models from range images
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Simultaneous Localization and Mapping for Augmented Reality
ISUVR '10 Proceedings of the 2010 International Symposium on Ubiquitous Virtual Reality
KinectFusion: Real-time dense surface mapping and tracking
ISMAR '11 Proceedings of the 2011 10th IEEE International Symposium on Mixed and Augmented Reality
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Fire fighting remains a dangerous profession despite many recent technological and organizational measures. Sensors and technical systems can augment the performance of fire fighters to increase safety and efficiency during operation. An important aspect in that context is the awareness of location, structure and thermal properties of the environment. This paper focuses on the design and development of a mobile system, which can reconstruct a 3d model of a building's interior structure in real-time and fuses the visualization with the image of a thermal camera. In addition the position and viewing direction of the fire fighter within the model is determined and a thermal map can be generated from the gathered data, which could help an operational commander to guide his men during a mission. First tests with our system in different situations showed good results, being able to reconstruct different larger scenes and create thermal maps thereof.