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Mapping Of Local Environments for Reconnaissance And Training (MOLE-RAT)

Award Information

Agency:
Department of Defense
Branch:
Army
Award ID:
97778
Program Year/Program:
2010 / SBIR
Agency Tracking Number:
A093-196-0332
Solicitation Year:
N/A
Solicitation Topic Code:
Army 09-196
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: 2010
Title: Mapping Of Local Environments for Reconnaissance And Training (MOLE-RAT)
Agency / Branch: DOD / ARMY
Contract: W56HZV-10-C-0195
Award Amount: $69,983.00
 

Abstract:

Unmanned ground systems provide the warfighter with a variety of standoff capabilities. One application is remote entry and exploration of urban structures and other potentially dangerous enclosed spaces. A robot capable of autonomously navigating these structures while simultaneously building a 3D map of the interior would provide soldiers with data for interactive reconnaissance and mission rehearsal. We propose a solution that uses simultaneous localization and mapping (SLAM) to track the robotf?Ts location and build a 3D model of the scene using a stereo video camera and standard onboard motion sensors such as IMU and odometry. A particle filter is used to efficiently model and update the robot position and scene model, allowing the system to run in real-time. To mitigate the lack of scene texture typical of indoor imagery, we will employ line features in addition to traditional point features. Our system will also apply geometric constraints, such as planar surfaces and parallel walls, to generate more accurate and reliable location and mapping results. As part of the development effort we plan to perform a thorough system evaluation which will assess the effectiveness of system components and guide the construction of a full system prototype.

Principal Investigator:

Jonah McBride
Senior Scientist
6174913474
jmcbride@cra.com

Business Contact:

Ninos Hanna
Contract Specialist
6174913474
ouli@lcpegasus.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