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The existing perception solutions, such as camera or light detection and ranging (LiDAR)\u2010based methods, are inadequate when faced with visually degraded conditions caused by smoke. In this work, SmokeNav, a novel system that combines data from an inertial sensor and millimeter\u2010wave (mmWave) radar, is proposed to enhance situational awareness for first responders in smoky environments. SmokeNav utilizes an inertial positioning module that exploits the human motion constraints with a foot\u2010mounted inertial measurement unit to provide accurate user localization. By integrating this location information with mmWave radar data, it employs a probabilistic occupancy map construction to reconstruct an accurate metric map. To enable semantic understanding of the environment, a DNN\u2010based semantic segmentation model that incorporates radar reflectivity and employs focal loss to improve performance is introduced. Herein, extensive real\u2010world experiments in smoky environments is conducted to demonstrate that SmokeNav precisely localizes the user and generates detailed maps with semantic segmentation. In this work, potentials are held for enhancing the safety and effectiveness of first responders in hazardous conditions.<\/jats:p>","DOI":"10.1002\/aisy.202400241","type":"journal-article","created":{"date-parts":[[2024,10,31]],"date-time":"2024-10-31T11:44:33Z","timestamp":1730375073000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["SmokeNav: Millimeter\u2010Wave\u2010Radar\/Inertial Measurement Unit Integrated Positioning and Semantic Mapping in Visually Degraded Environments for First Responders"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8341-6399","authenticated-orcid":false,"given":"Changhao","family":"Chen","sequence":"first","affiliation":[{"name":"College of Intelligence Science and Technology National University of Defense Technology  Changsha 410073 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1401-3710","authenticated-orcid":false,"given":"Zhiqiang","family":"Yao","sequence":"additional","affiliation":[{"name":"College of Electronics and Information Xiangtan University  Xiangtan 411105 China"}]},{"given":"Junlin","family":"Jiang","sequence":"additional","affiliation":[{"name":"College of Electronics and Information Xiangtan University  Xiangtan 411105 China"}]},{"given":"Xianfei","family":"Pan","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology National University of Defense Technology  Changsha 410073 China"}]},{"given":"Xiaofeng","family":"He","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology National University of Defense Technology  Changsha 410073 China"}]},{"given":"Ze","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology National University of Defense Technology  Changsha 410073 China"}]},{"given":"Bing","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University  11 Yuk Choi Rd HKSAR China"}]}],"member":"311","published-online":{"date-parts":[[2024,10,31]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/MPRV.2009.91"},{"key":"e_1_2_8_3_1","unstructured":"A.Dhekne A.Chakraborty K.Sundaresan S.Rangarajan inNSDI Boston USA2019 Vol.19 pp.751\u2013764."},{"key":"e_1_2_8_4_1","doi-asserted-by":"crossref","unstructured":"C.Forster M.Pizzoli D.Scaramuzza in2014 IEEE Int. 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