TriSAR-3D and PaintFusion: A Novel Trimodal LiDAR-RGB-Thermal Dataset and Method for 3D Person Detection in Search and Rescue
Reliable 3D person detection is important for rescue robotics to give first responders situational awareness. Yet most multimodal 3D detection research targets automotive scenarios in which pedestrians mostly appear in a narrow range of upright, near-road poses. It is therefore unclear how much of the reported performance transfers to rescue settings, as a person may be lying, partially occluded, or in unstructured indoor and outdoor environments. To investigate this gap, we introduce TriSAR-3D, a multimodal person detection dataset recorded with a high-resolution 128-channel LiDAR, an RGB camera, and a thermal camera. It captures varied poses in indoor as well as outdoor locations at dif...
| Authors | Markus Kramer, Jan Wachenfeld, Oskar von Stryk |
|---|---|
| Primary category | cs.CV |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
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