A Kinect-based 3D sensing and human action recognition solution for urban search and rescue environments

摘要

The robotic urban search and rescue (USAR) solution still has a lot of challenges, but it also has huge potentials to reduce the robot operator's in disaster scenes which are usually cluttered, dusty, and time-critical. In this paper, a Kinect-based 3D sensing and human action recognition solution is proposed to fuse 3D mapping, fine object reconstruction, and human identification/tracking into a Rich Information Map for evaluation. Preliminary experiments show the effectiveness of our approach's individual modules and are ready to integrate and perform robotic USAR tasks.