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Robust Real-Time SFM for SMAV

Award Information

Agency:
Department of Defense
Branch:
Defense Advanced Research Projects Agency
Award ID:
74353
Program Year/Program:
2005 / 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 1
Fiscal Year: 2005
Title: Robust Real-Time SFM for SMAV
Agency / Branch: DOD / DARPA
Contract: W31P4Q-05-C-0154
Award Amount: $99,000.00
 

Abstract:

We shall investigate and implement 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, sensor payload limitations, minimal onboard processing capabilities, sudden and abrupt motions changes etc.) pose a significant challenge and require development of innovative and robust algorithms. We will 1) Develop and implement SFM algorithms with robustness at each processing stage to ensure reliable performance with low quality video input, and to detect degenerate or near degenerate cases to avoid erroneous estimation; 2) Perform extensive feasibility study of our proposed algorithm using data with progressive levels of fidelity including a) Simulated data with ground truth information b) Motion-captured data and c) Data collected from real SMAVs equipped with miniaturized cameras; and 3) Systematically evaluate the performance of our SFM algorithm for reconstruction accuracy at different flying patterns in various environments, and different depth ranges that can be recovered by our algorithm. The objective is to develop a practical and field deployable system that will provide navigation and obstacle detection capabilities to the SMAV platforms.

Principal Investigator:

Takeo Kanade
Professor of CS and Robotics
4122683016
Takeo.Kanade@cs.cmu.edu

Business Contact:

P. Balakumar
CEO
8006842772
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 D. Harvard
Contact Phone: (412) 268-2996
RI Type: Nonprofit college or university