Visual Odometry and Automatic 3D Model Construction for MAVs
Agency / Branch:
DOD / DARPA
We propose to commercialize the real-time visual odometry and automatic 3D model construction method developed by David Nister for use on Micro Air Vehicles. The system will be developed for the Honeywell MAV and tested on that platform. The front end of the system is a feature tracker. Point features are matched between pairs of frames and linked into image trajectories at video rate. Robust estimates of the camera motion are then produced from the feature tracks using a geometric hypothesize-and-test architecture. An important strength of this real-time approach is that it also provides a sparse estimate of 3D structure.
Small Business Information at Submission:
Research Institution Information:
1750 Kraft Drive, Suite 1400 Blacksburg, VA 24060
Number of Employees:
UNIV. OF KENTUCKY
College of Engineering , 351 RGAN Bldg.
Lexington, KY 40506
Nonprofit college or university