Increasing situation awareness of the CBRNE robot operators

Situational awareness of CBRN robot operators is quite limited, as they rely on images and measurements from on-board detectors. This paper describes a novel framework that enables a uniform and intuitive access to live and recent data via 2D and 3D representations of visited sites. These representations are created automatically and augmented with images, models and CBRNE measurements. This framework has been developed for CBRNE Crime Scene Modeler (C2SM), a mobile CBRNE mapping system. The system creates representations (2D floor plans and 3D photorealistic models) of the visited sites, which are then automatically augmented with CBRNE detector measurements. The data stored in a database is accessed using a variety of user interfaces providing different perspectives and increasing operators' situational awareness.