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Landmark Navigation for Unmanned Ground Vehicles

Award Information

Department of Defense
Award ID:
Program Year/Program:
2012 / STTR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Kitware Inc.
28 Corporate Drive Clifton Park, NY 12065-8688
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 2012
Title: Landmark Navigation for Unmanned Ground Vehicles
Agency / Branch: DOD / ARMY
Contract: W56HZV-13-C-0025
Award Amount: $98,418.00


We propose a novel robot navigation paradigm based on high-level visual landmarks, including structural landmarks and object-level landmarks. The system will use our novel multilayered-feature graph (MFG) to combine multiple, heterogeneous features (from points to planes to vanishing points) robustly into a single, hierarchical framework for scene structure. It will combine this with salient scene element segmentation to generate object-level landmarks with rich geometry. It will use a behavior-based control model to navigate using with respect the high-level landmarks. A predictive display will enable tele-operation with supervisory control that will allow high-level commands, such as''follow this wall'and''go around that object'.

Principal Investigator:

Amitha Perera
Technical Leader
(518) 881-4940

Business Contact:

Vicki Rafferty
Contracts Administrator
(518) 881-4401
Small Business Information at Submission:

28 Corporate Drive Clifton Park, NY -

EIN/Tax ID: 141802694
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
Texas Engineering Experiment Statio
400 Harvey Mitchell Parkway S.
Suite 200
College Station, TX 77845-4375
Contact: Heather Henry
Contact Phone: (979) 845-5464