An Augmented Reality System for Human Operators in Search and Rescue Missions

The need for augmenting human rescuers' capabil- ities during the Search and Rescue missions has been expressed by recent disasters. Several works have been done on proposing indoor systems which offer localization and mapping solutions as well as taking advantage of augmented reality (AR) for presenting needed information in the context of emergency situations. In this paper, we propose a system that uses wearable sensors (laser scanner and IMU's) and a graph-based SLAM algorithm. Furthermore, additional sensors have been integrated into the system to monitor external environmental conditions as well as physiological indicators of the rescuer. Finally, all relevant information is presented through Microsoft Hololens 2 to help rescuers make better decisions based on a more complete picture of the surroundings and, eventually, facilitate a more efficient and fast way to perform Search and Rescue missions.