This document describes a system called SECURE that uses a mobile robot platform with various sensors to collect data during rescue operations. The raw sensor data is annotated using the SSN ontology. Perceptual analysis is then performed to derive higher level abstractions from the annotated data using a perception ontology and domain knowledge. These abstractions are more intuitive for first responders. The system provides a visualization dashboard in real-time to display the raw data, position data, derived abstractions, and video from the robot to provide situational awareness for rescue operations. A demo of the complete SECURE system is available online.