NDLI: 3-D Active Sensing in Time-Critical Urban Search and Rescue Missions

Content Provider	IEEE Xplore Digital Library
Author	Mobedi, B. Nejat, G.
Copyright Year	1996
Abstract	Mobile robots are currently being developed to help rescue workers in urban disaster environments to search for survivors. Our research focuses on developing robust 3-D sensors that can be used in robotic rescue missions to map these unknown cluttered environments and determine the locations of victims. This paper presents the development of a new active 3-D sensory system for robotic search and rescue in unknown cluttered urban disaster environments. The sensory system can provide high resolution 2-D and 3-D information of a cluttered scene that can be used by a robot operator for real-time viewing as well as to develop a 3-D map of the disaster scene. The main advantage of the proposed sensory system is its robustness to cluttered, and dark and dimly lit environments found in disaster areas. Experimental results are presented to verify the performance of the sensory system in obtaining 3-D sensory information of rubble piles in Urban Search and Rescue like environments as well as the potential use of the sensor for 3-D mapping applications in these unknown environments.
Starting Page	1111
Ending Page	1119
Page Count	9
File Size	882578
File Format	PDF
ISSN	10834435
Volume Number	17
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Urban areas Disaster management Real time systems Three dimensional displays Robot sensing systems urban search and rescue Rescue robotics structured light sensing 3-D active sensory system
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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