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Moving Object Tracking Onboard a Moving Platform (MOTO-MP)

Award Information

Agency:
Department of Defense
Branch:
Defense Advanced Research Projects Agency
Award ID:
91765
Program Year/Program:
2009 / SBIR
Agency Tracking Number:
08SB2-0540
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Charles River Analytics Inc.
625 Mount Auburn Street Cambridge, MA 02138-
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 2009
Title: Moving Object Tracking Onboard a Moving Platform (MOTO-MP)
Agency / Branch: DOD / DARPA
Contract: W31P4Q-09-C-0490
Award Amount: $98,154.00
 

Abstract:

Mobile robots are a valuable asset to warfighters, keeping them out of harms way while remotely conducting dangerous bomb-disposal and reconnaissance missions. Autonomous and semi-autonomous operation of these robots would provide additional benefit by freeing up the attention of the operator for other tasks such as personal safety. It also increases usability and reduces training time. Thus far, efforts to develop automation have been limited to static environments. There is considerable resistance to autonomous operation in dynamic environments (which feature multiple humans, robots or vehicles) due to the risk of collision and other safety issues. We propose an approach for "Moving Object Tracking Onboard a Moving Platform", or MOTO-MP. It enables a robot to detect and track multiple moving objects in a scene while in motion. Unlike traditional approaches which struggle to identify moving objects when the entire scene is in motion, MOTO-MP employs a simple but robust approach involving tracking in image space, an epipolar Hough space, and the 3D world space. A particle filter tracks clusters of moving features, rejecting false tracks, and a Kalman filter predicts the trajectory of objects in world space so that a robot's navigation and path planning system can avoid collisions.

Principal Investigator:

Jonah McBride
Scientist
6174913474
jmcbride@cra.com

Business Contact:

Gail Zaslow
Contract Specialist
6174913474
gzaslow@cra.com
Small Business Information at Submission:

CHARLES RIVER ANALYTICS, INC.
625 Mount Auburn Street Cambridge, MA 02138

EIN/Tax ID: 042803764
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No