First responders, including firefighters, ER personnel, and police officers, require a comprehensive understanding of the situation when dealing with complex and dynamic events. This detailed situational awareness is crucial for effective decision-making and coordination during emergencies. One of the significant challenges they face is the localization of people, events, and objects within buildings, as traditional GPS technology is typically unavailable or unreliable in indoor environments. As a result, accurately identifying and tracking these critical elements becomes significantly more difficult. To overcome these challenges, commanding officers often rely heavily on voice communications from their team members to gather real-time information