3D视觉重建作为第一响应者定位和可视化的先前信息.
Susanna Kaiser1, Magdalena Linkiewicz2, Henry Meißner2
1German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, D-82234 Wessling, Germany.
Sensors (Basel, Switzerland)
|September 28, 2023
概括
紧急人员需要精确的室内定位才能进行有效的操作. 这项研究引入了一种基于SLAM的新型本地化方法,与3D建筑扫描相结合,实现次米准确度,以提高情境意识.
科学领域:
- 机器人和人工智能 机器人和人工智能
- 地缘空间信息系统 (Geospatial Information Systems) 是一个地理空间信息系统.
- 应急响应技术 应急响应技术
背景情况:
- 在紧急任务中,有效的部队管理依赖于实时的局势意识.
- 由于全球导航卫星系统 (GNSS) 信号退化,紧急人员的室内定位具有挑战性.
- 准确的定位对于协调干预期间的急救人员至关重要.
研究的目的:
- 为应急人员开发和评估一种新的室内定位系统.
- 增强实时形势图片的生成,以改善行动协调.
- 为建筑物内的紧急部队提供准确的地理参考位置.
主要方法:
- 集成基于同时定位和映射 (SLAM) 的惯性定位技术.
- 利用3D建筑扫描作为地理引用的先前信息.
- 为SLAM算法开发一种用于将点云转换为六角镜图的新方法.
- 为急救人员设计轻量级设备.
主要成果:
- 室内定位的平均准确度不到1米.
- 成功生成了实时形势图,整合了环境布局和人员位置.
- 展示了用于协调操作的3D建筑重建的优势.
结论:
- 拟议的基于SLAM的本地化与3D建筑扫描相结合,为紧急人员提供准确可靠的室内定位.
- 该系统在专业用例中显著提高了情境意识和操作协调.
- 这种方法确保了第一响应人员的轻量级设备,促进了有效的任务部署.
相关概念视频
01:24Vision
Vision is the result of light being detected and transduced into neural signals by the retina of the eye. This information is then further analyzed and interpreted by the brain. First, light enters the front of the eye and is focused by the cornea and lens onto the retina—a thin sheet of neural tissue lining the back of the eye. Because of refraction through the convex lens of the eye, images are projected onto the retina upside-down and reversed.
01:15Depth Perception and Spatial Vision
Depth perception is the ability to perceive objects three-dimensionally. It relies on two types of cues: binocular and monocular. Binocular cues depend on the combination of images from both eyes and how the eyes work together. Since the eyes are in slightly different positions, each eye captures a slightly different image. This disparity between images, known as binocular disparity, helps the brain interpret depth. When the brain compares these images, it determines the distance to an object.