Toward the Automatic Detection of Access Holes in Disaster Rubble

The collapse of buildings and other structures in heavily populated areas often result in multiple human victims becoming trapped within the resulting rubble. This rubble is often unstable, difficult to traverse and dangerous for first responders who are tasked with finding and extricating victims through access holes in the rubble. Recent work in scene mapping and reconstruction using RGB-D data collected by unmanned aerial vehicles (UAVs) …