Robust Thermal-Radar-Inertial SLAM for Fireground Environments
A robust localization framework for perception-degraded extreme environments, with a focus on fireground navigation where smoke, heat, low texture, and intermittent sensing can destabilize odometry. The system fuses thermal cameras, 4D radar, and inertial sensing with adaptive degradation awareness and ZUPT constraints to improve localization robustness under unreliable visual or geometric observations.
Overview
A robust localization framework for perception-degraded extreme environments, with a focus on fireground navigation where smoke, heat, low texture, and intermittent sensing can destabilize odometry. The system fuses thermal cameras, 4D radar, and inertial sensing with adaptive degradation awareness and ZUPT constraints to improve localization robustness under unreliable visual or geometric observations.