Novel wearable mobile mapping system for Forensic and Security, mountable on trained dog and human
Janusz Będkowski · 2025
This work shows a novel wearable mobile mapping system for Forensic and Security, it is mountable on trained dog and human. The goal is to enhance the trained dog and human performing Forensic and Security tasks with minimized negative impact onto routine activities. Thus, lightweight solution is designed. This research solves the problem of lacking 3D representation of the e.g. crime scene and traversed trajectory during Forensic and Security tasks. Proposed solution does not require highly trained personnel. Just wear it, push button and go. All recorded data (IMU, LiDAR) is post processed off-line with an open source software available at https://github.com/MapsHD/HDMapping under MIT licence. The solution is highly optimized for demanding mobility and tasks such as trained dog searching (e.g. victims, suspects, explosives, drugs) or human climbing, crawling for reaching tight spaces. It is hands free and fully automatic, thus it is possible to perform other Forensic and Security tasks without any interruption. The system was tested in real world scenarios elaborated in this paper.