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Efficient Structure from Motion for 3d Reconstruction of Static Background and…

Award Information

Department of Defense
Air Force
Award ID:
Program Year/Program:
2005 / STTR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Robotic Research LLC
555 Quince Orchard Road Suite 300 Gaithersburg, MD -
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 2005
Title: Efficient Structure from Motion for 3d Reconstruction of Static Background and Moving Targets
Agency / Branch: DOD / USAF
Contract: FA9550-05-C-0158
Award Amount: $100,000.00


Modern munitions need the ability to track moving targets with passive sensors. This requires a 3D reconstruction of both the background scene and moving objects. Normally this is done with stereo vision to generate a 3-D scene. Unfortunately, the use of paired cameras on munitions is difficult due to the need for spatial separation of the cameras for resolution and the general desire to minimize the weight and cost of seeker payloads. Single cameras provide 2-D representations that are intrinsically ambiguous, since one dimension is lost in the projection from the 3-D world onto a 2-D imaging sensor. One way to overcome this loss is to use the dimension of time and movement of the camera. Given a series of images of a scene, typically taken by a video camera, it is sometimes possible to recover some of this lost 3-dimensional information with a technique called Structure from Motion. Robotic Research, LLC in conjunction with the Jet Propulsion Laboratory proposes to develop an efficient hardware-based Structure from Motion (SFM) module for static scenes and moving targets. This research effort will advance the ability to jointly reconstruct static backgrounds and moving targets using single passive sensor.

Principal Investigator:

Alberto Lacaze

Business Contact:

Alberto Lacaze
Small Business Information at Submission:

Robotic Research Llc
814 W. Diamond Ave., Suite 301 Gaithersburg, MD 20878

EIN/Tax ID: 270030984
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
4800 Oak Grove Drive
Pasadena, CA 91109
Contact: Robert S. Cox
Contact Phone: (818) 354-4321
RI Type: Federally funded R&D center (FFRDC)