{Reference Type}: Journal Article
{Title}: Seamless Fusion: Multi-Modal Localization for First Responders in Challenging Environments.
{Author}: Dahlke D;Drakoulis P;Fernández García A;Kaiser S;Karavarsamis S;Mallis M;Oliff W;Sakellari G;Belmonte-Hernández A;Alvarez F;Zarpalas D;
{Journal}: Sensors (Basel)
{Volume}: 24
{Issue}: 9
{Year}: 2024 Apr 30
{Factor}: 3.847
{DOI}: 10.3390/s24092864
{Abstract}: In dynamic and unpredictable environments, the precise localization of first responders and rescuers is crucial for effective incident response. This paper introduces a novel approach leveraging three complementary localization modalities: visual-based, Galileo-based, and inertial-based. Each modality contributes uniquely to the final Fusion tool, facilitating seamless indoor and outdoor localization, offering a robust and accurate localization solution without reliance on pre-existing infrastructure, essential for maintaining responder safety and optimizing operational effectiveness. The visual-based localization method utilizes an RGB camera coupled with a modified implementation of the ORB-SLAM2 method, enabling operation with or without prior area scanning. The Galileo-based localization method employs a lightweight prototype equipped with a high-accuracy GNSS receiver board, tailored to meet the specific needs of first responders. The inertial-based localization method utilizes sensor fusion, primarily leveraging smartphone inertial measurement units, to predict and adjust first responders' positions incrementally, compensating for the GPS signal attenuation indoors. A comprehensive validation test involving various environmental conditions was carried out to demonstrate the efficacy of the proposed fused localization tool. Our results show that our proposed solution always provides a location regardless of the conditions (indoors, outdoors, etc.), with an overall mean error of 1.73 m.