An Examination on the Location of the Victims in a Disaster Situation and How to Construct a Dynamic Map

Abstract

With the development of architectural technology, buildings are becoming larger and more complex. In a building, there are many disasters which can occur such as fire and deconstructing disaster. In case of disaster happening, evacuate the victim is burden task for firefighter. Therefore, in this paper, we study on the location of the victim during a disaster situation and constructing a dynamic map. In this paper, disaster situation and researches are being conducted to find out the victims using unmanned robots in Korea and overseas, and to dynamically reconfigure the changed maps due to the collapse of the buildings In this paper, we are going to study how to detect victims while moving an unmanned robot in a disaster situation such as a fire or a building collapse, and dynamically reconstruct the map at the same time. detect the victim and reconstruct the map, the position of the movable corridor must be determined from the design of the target building. Then, the existing map data is input to the unmanned robot, and the robot needs to form the position and graph by connecting the positions of the corridors based on the data. In addition, the unmanned robot must reconfigure the changed map by overwriting the existing map while moving the map.

Keywords: Indoor Disaster Situation, SLAM, LIDAR, Sensor, Camera, Human Detection