Abstract
Three-dimensional modeling of building environments and indoor positioning is essential for emergency response in cities. Traditional ground-based measurement methods, such as geodetic astronomy, total stations, and global positioning system (GPS) receivers, cannot meet the demand for high precision positioning and it is therefore essential to conduct multiple-angle data-acquisition and establish three-dimensional spatial models. In this paper, a rapid modeling technology is introduced, which includes multiple-angle remote sensing image acquisition based on unmanned aerial vehicles (UAVs), an algorithm to remove linear and planar foregrounds before reconstructing the backgrounds, and a three-dimensional modeling (3DM) framework. Additionally, an indoor 3DM technology is introduced based on building design drawings, and an indoor positioning technology is developed using iBeacon technology. Finally, a prototype system of the indoor and outdoor positioning-service system in an urban firefighting rescue scenario is introduced to demonstrate the value of the method proposed in this paper.
Highlights
Three-dimensional information is an important component of modern cities’ safety-control systems and is a prerequisite for carrying out urban public safety operations
There are a number of ground-vehicle data-acquisition systems in the world, such as the Lynx laser-acquisition vehicles, which were developed by Optech; binocular panoramic-acquisition vehicles, which were developed by Earthmine; and the horizontal and vertical dual laser-radar scanning system, which was developed by Avideh Zakhor et al [2]
The 3DM and indoor positioning technologies developed in this paper have the following advantages over the traditional methods: (1) this method of using the space-air-ground integrated, multiple-directional, three-dimensional acquisition platform to obtain data greatly improves the efficiency of data-acquisition; (2) the combination of three-dimensional (3D) building-model reconstruction from point-clouds, automatic identification and removal of foreground shielding and 3DM software can improve the efficiency and fidelity of the 3DM; (3) the combination of 3DMs and indoor positioning technology can meet the needs of safety and emergency services in the city; (4) the urban emergency response application is a good case study of the Virtual Geographic Environment theory and technologies [43,44,45,46,47], which provides a virtual experimental research platform of human–computer interaction for emergency response
Summary
Three-dimensional information is an important component of modern cities’ safety-control systems and is a prerequisite for carrying out urban public safety operations. The 3DM and indoor positioning technologies developed in this paper have the following advantages over the traditional methods: (1) this method of using the space-air-ground integrated, multiple-directional, three-dimensional acquisition platform to obtain data greatly improves the efficiency of data-acquisition; (2) the combination of three-dimensional (3D) building-model reconstruction from point-clouds, automatic identification and removal of foreground shielding and 3DM software can improve the efficiency and fidelity of the 3DM; (3) the combination of 3DMs and indoor positioning technology can meet the needs of safety and emergency services in the city; (4) the urban emergency response application is a good case study of the Virtual Geographic Environment theory and technologies [43,44,45,46,47], which provides a virtual experimental research platform of human–computer interaction for emergency response. It provided a standardized data-service interface for the construction of large-scale sand table models, a fine 3DM of the control area, a real-scene reconstruction of the core targets and real-time monitoring of a counter-terrorism scene
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