Firefighting operations in high-rise buildings and industrial zones are inherently complex due to challenges such as reduced visibility from darkness, smoke, extreme heat, and debris-filled environments. This work studies the use of 3D Light Detection and Ranging (LiDAR) combined with an inertial measurement unit (IMU) to enhance search-and-rescue missions by enabling real-time mapping and accurate localization in hazardous conditions. Utilizing a low-cost solid-state 3D LiDAR sensor, the proposed system produces detailed 3D spatial maps that enable rescue teams to improve situational awareness and precise guidance. We integrate distributed computing with multi-ROS middle-ware, which allows the efficient division of contributed computing tasks between the edge device and a central processing unit to save energy on the edge device, providing scalability and responsiveness under challenging circumstances. The evaluation tests conducted in multi-floor scenarios validate the system’s adaptability to structural changes, demonstrating its potential to reduce response times and improve the safety of both victims and rescue personnel. This work underscores the transformative role of LiDAR-IMU systems in modern firefighting and search-and-rescue operations.