Real-time fire site map Construction based on the UWB/LiDAR

In order to solve the problem that the fire command center cannot obtain the internal map of the fire site during fire rescue, a real-time map construction method combining Ultra-wideband (UWB) and Light detection and ranging (LiDAR) is proposed. The optimization-based approach is utilized for the fusion of UWB and LiDAR. Firstly, the positioning trajectories of multiple firefighters are obtained through UWB high-precision positioning, and the trajectories are connected and fused to get an indoor initial map. Then, a scan matching algorithm based on local sub map is designed, which uses the point cloud data of LiDAR to construct sub map for closed-loop detection and improve the map accuracy. Finally, the UWB map and LiDAR map are fused by factor graph model to obtain a global grid map. In order to verify the performance of the proposed algorithm, simulation experiments are conducted. Compared with the traditional LiDAR Hector algorithm, the mapping error of the proposed algorithm is reduced by 62.9%. This method provides a new solution for the command center to obtain a more accurate fire site map of firefighters.