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Situational awareness and Indoor location tracking for firefighters is one ofthe tasks with paramount importance in search and rescue operations. For IndoorPositioning systems (IPS), GPS is not the best possible solution. There are fewother techniques like dead reckoning, Wifi and bluetooth based triangulation,Structure from Motion (SFM) based scene reconstruction for Indoor positioningsystem. However due to high temperatures, the rapidly changing environment offires, and low parallax in the thermal images, these techniques are notsuitable for relaying the necessary information in a fire fighting environmentneeded to increase situational awareness in real time. In fire fightingenvironments, thermal imaging cameras are used due to smoke and low visibilityhence obtaining relative orientation from the vanishing point estimation isvery difficult. The following technique that is the content of this researchimplements a novel optical flow based video compass for orientation estimationand fused IMU data based activity recognition for IPS. This technique helpsfirst responders to go into unprepared, unknown environments and still maintainsituational awareness like the orientation and, position of the victim firefighters.

A Novel Indoor Positioning System for unprepared firefighting scenarios