Evaluation of Sensors and Mapping Approaches for Disasters in Tunnels

In this paper we present results of an evaluation of sensors and perception algorithms in a large-scale emergency response exercise. We deployed state-of-the art sensors like Lidars and publicly available mapping approaches in a simulated car accident in a tunnel. The main goal is to investigate how well existing technologies are accepted by first responders for such scenarios. A rich sensor data set was recorded during a reconnaissance mission with a robot and later analyzed offline. We present first results of the representations generated and discuss what techniques are already accepted by responders. Finally, we raise issues that have to be tackled in order to increase the acceptance