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3D Range Imaging for Urban Search and Rescue Robotics Research



Roger V. Bostelman, Tsai Hong Hong, Rajmohan Madhavan, Brian A. Weiss


Urban search and rescue (US&R) operations can be extremely dangerous for human rescuers during disaster response. Human task forces carrying necessary tools and equipment and having the required skills and techniques, are deployed for the rescue of victims of structural collapse. Instead of sending human rescuers into such dangerous structures, it is hoped that robots will one day meet the requirements to perform such tasks so that rescuers are not at risk of being hurt or worse. About 5 years ago, the National Institute of Standards and Technology, sponsored by the Defense Advanced Research Projects Agency, created reference test arenas that simulate collapsed structures for evaluating the performance of autonomous mobile robots performing US&R tasks. At the same time, the NIST Industrial Autonomous Vehicles Project has been studying advanced 3D range sensors for improved robot safety in warehouses and manufacturing environments. Combined applications are discussed in this paper where advanced 3D range sensors also show promise during US&R operations toward improved robot performance in collapsed structure navigation and rescue operations.
Proceedings Title
SSRR Workshop | | |
Conference Dates
June 6-9, 2005
Conference Location
Kobe, JA
Conference Title
Safety, Security and Rescue Robotics (SSRR 2005)


3D range camera, ground truth, LADAR/LIDAR Sensors, real-time, Robotics & Intelligent Systems, safety standard, Standards, urban search and rescue


Bostelman, R. , , T. , Madhavan, R. and Weiss, B. (2006), 3D Range Imaging for Urban Search and Rescue Robotics Research, SSRR Workshop | | |, Kobe, JA, [online], (Accessed May 26, 2024)


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Created June 26, 2006, Updated February 19, 2017