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MAVIS: A Robust Real-Time SFM for SMAV

Award Information

Agency:
Department of Defense
Branch:
Defense Advanced Research Projects Agency
Award ID:
74353
Program Year/Program:
2006 / STTR
Agency Tracking Number:
05ST1-0039
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
ETOVIA SYSTEMS, INC.
8001 Lingay Drive Allison Park, PA 15101 0333
View profile »
Woman-Owned: No
Minority-Owned: Yes
HUBZone-Owned: No
 
Phase 2
Fiscal Year: 2006
Title: MAVIS: A Robust Real-Time SFM for SMAV
Agency / Branch: DOD / DARPA
Contract: W31P4Q-06-C-0488
Award Amount: $749,984.00
 

Abstract:

We shall investigate, implement and demonstrate MAVIS, a 3D vision system incorporating robust Real-Time SFM for SMAV application scenarios. Automatic pose determination and extraction of 3D structure of the environment are critical to autonomous navigation and obstacle avoidance of SMAVs in constrained and crowded environments. Extracting such state information under various constraints (low quality video because of sensor payload limitations, minimal onboard processing capabilities, sudden and abrupt motions changes etc.) poses a significant challenge and requires development of innovative and robust algorithms. During Phase II we shall a) Investigate ways to increase the reliability and robustness of SFM algorithms using commodity, COTS based motion sensors; b) Exploit scene regularity by using layered approach, thus increasing the robustness of feature tracking; c) Integrate, test and demonstrate core components of the 3D Vision system, consisting of various SFM modules with robustness at each processing stage to ensure reliable performance; and d) Pursue commercialization of the MAVIS system.

Principal Investigator:

Takeo Kanade
University Professor of C
4122683016
Takeo.Kanade@cs.cmu.edu

Business Contact:

P. Balakumar
CEO
4126062252
bala@etovia.com
Small Business Information at Submission:

ETOVIA SYSTEMS, INC.
8001 Lingay Drive Allison Park, PA 15101

EIN/Tax ID: 251803252
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
CARNEGIE MELLON UNIV.
Robotics Institute - NSH 3103 5000 Forbes Avenue
Pittsburgh, PA 15213
Contact: Deborah Harvard
Contact Phone: (412) 268-2996
RI Type: Nonprofit college or university