Fundamental Study on Evacuation Guidance Assistance Robots in Disasters: A Measurement Method for Evacuation Routes Using 3D-LiDAR

This study explores a methodology for mapping the 3D spatial information of evacuation routes, aiming to acquire lightweight data to enhance the flexibility of evacuation route development.Utilizing 3D-LiDAR (Light Detection and Ranging) technology, we integrated an Inertial Measurement Unit (IMU) with an existing algorithm to compensate for motion distortion, thereby increasing the mapping accuracy of interior spaces characterized by a paucity of structural features.Given the extensive volume of point cloud data generated by LiDAR, which is impractical for direct application in evacuation route mapping, we categorized the data into local and global maps.This paper presents a strategy to minimize the data volume necessary for generating optimized evacuation route maps, employing the Octomap data format for efficient global map storage.This approach not only addresses the challenges of handling large datasets but also contributes to the development of more accurate and user-friendly evacuation planning tools.