Development of Smart Rescue System for Great Deep Railway Facilities

A real-world localization and synchronization test was conducted in a company corridor. In collaboration with a Unity engineer, the corridor environment was reconstructed as a 3D model in Unity and synchronized with a physical mobile robot in real time.

The robot first performed LiDAR SLAM-based mapping to generate a spatial map of the corridor, which was then integrated into Unity to create a corresponding 3D environment. Using localization data, the real robot and its virtual counterpart in Unity were accurately synchronized.

A human pose detection algorithm running on the robot detected nearby people. When a person was detected, their position was accurately estimated and visualized in real time within the Unity 3D environment, enabling precise human-robot spatial awareness.

Research outcomes were presented at an international seminar, showcasing the system's capabilities for disaster-aware navigation and real-time digital twin synchronization.