Real-Time User Localization and Structure Mapping With Point Clouds
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Solution Overview
Problem
Existing technologies for tracking firefighter location in hazardous environments lack accuracy and do not provide mapping capabilities of the internal layout of structures, posing risks to firefighters.
Innovation Solution
A system that simultaneously determines the location of users and creates a map of the structure using stereophotogrammetry, depth estimation, and pressure readings, incorporating sensors mounted on users to generate image streams and compare them to create a point cloud of obstacles and user positions, with servers processing this data to generate a precise map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If step or gate tracking technologies are used to determine firefighter location, then the system can operate in hazardous environments, but the location accuracy is insufficient and mapping capability is lacking
Solution Approach 1:
The system divides the tracking function into multiple components: wearable apparatus with sensors (cameras, LiDAR, IMUs), network communication modules, and server-based processing. This segmentation allows each component to be optimized independently while achieving high location accuracy through coordinated operation of multiple sensor types.
Solution Approach 2:
The wearable apparatus integrates multiple functions into a single device: location tracking, structure mapping, communication, and navigation guidance. The system serves both firefighters and command centers by providing real-time location data, 3D maps, and communication capabilities through a unified platform.
2Loss of information
If existing tracking technologies are used, then firefighters can be monitored, but no mapping capability is provided for internal layout
Solution Approach 1:
The system merges location tracking with structure mapping by processing sensor data (cameras, LiDAR, IMUs) to simultaneously determine firefighter position and generate 3D maps of the environment. The server combines data from multiple sensors and users to create comprehensive spatial representations of building interiors.
Solution Approach 2:
The server acts as an intermediary that receives raw sensor data from wearable devices, processes it through algorithms, and generates both location information and 3D maps. This intermediary layer transforms complex sensor inputs into useful mapping outputs without requiring direct complex processing at the wearable device.
3Measurement precision
If multiple sensors are integrated for accurate tracking and mapping, then location precision improves, but device complexity increases
Solution Approach 1:
The sensor system is segmented into distinct functional modules: cameras for visual recognition, LiDAR for depth measurement, IMUs for motion tracking, and communication modules for data transmission. Each sensor type is optimized for its specific function and the results are combined through algorithms on the server.
Solution Approach 2:
The system replaces complex mechanical tracking mechanisms with sensor-based measurement and computational processing. Instead of using complex mechanical linkages or GPS satellites, the system uses cameras, LiDAR, and IMUs to capture spatial information and processes it algorithmically to achieve high precision tracking and mapping.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate real-time tracking and mapping of firefighters within structures, enhancing safety by providing detailed navigation and deployment guidance in challenging environments.
Implementation Method 1
A system for simultaneously determining in real time location of a user and creating a map of the structure as the user moves throughout a structure
Implementation Method 2
A system that simultaneously determines the location of users and creates a map of the structure using stereophotogrammetry, depth estimation, and pressure readings
Implementation Method 3
A system that simultaneously determines the location of users and creates a map of the structure using stereophotogrammetry, depth estimation, and pressure readings
Data Source
AI summary
A system is configured to (1) determine location of a user and/or objects within a structure and/or (2) create a map of contours of the structure, as the user navigates a space within a structure, the system comprising: a) an apparatus to function in hazardous environments, wherein the apparatus includes first and second sensors configured to generate first and second image streams; and b) one or more servers configured to communicate with the apparatus via a network, and execute a method comprising: receiving the first and second image streams from the first and second sensors; comparing the first and second image streams to determine differences in location of points on the first and second image streams, each difference representative of a location of an obstacle and/or the user with respect to each obstacle; and creating a point cloud of the location of the obstacles and/or the user within the structure.