title: Vision-based responders localization techniques in urban search and rescue scenarios.
abstract: In this paper, we introduce a vision-based localization algorithm that can accurately track responders during rescue operations in urban areas that are Global Navigation Satellite System (GNSS)-denied. The proposed algorithm works successfully with the rich visual features of an urban environment and obtains an average localization accuracy of 2.5 ft. In addition, we also provide a 3D representation of the disaster field which reflects the current conditions of the site.
authors.lastname: Zhuorui Yang
authors.forename: Aura
authors.initials: A
authors.lastname: Ganz
mesh_terms: D000465:Algorithms; D002947:Cities; D004190:Disasters; D006801:Humans; D018635:Rescue Work; D014785:Vision, Ocular