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MAVIS: A Robust Real-Time SFM for SMAV

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: W31P4Q-06-C-0488
Agency Tracking Number: 05ST1-0039
Amount: $749,984.00
Phase: Phase II
Program: STTR
Solicitation Topic Code: ST051-003
Solicitation Number: N/A
Timeline
Solicitation Year: 2005
Award Year: 2006
Award Start Date (Proposal Award Date): 2006-09-21
Award End Date (Contract End Date): 2008-12-31
Small Business Information
8001 Lingay Drive
Allison Park, PA 15101
United States
DUNS: 077753114
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: Yes
Principal Investigator
 Takeo Kanade
 University Professor of C
 (412) 268-3016
 Takeo.Kanade@cs.cmu.edu
Business Contact
 P. Balakumar
Title: CEO
Phone: (412) 606-2252
Email: bala@etovia.com
Research Institution
 CARNEGIE MELLON UNIV.
 Deborah Harvard
 
Robotics Institute - NSH 3103 5000 Forbes Avenue
Pittsburgh, PA 15213
United States

 (412) 268-2996
 Nonprofit College or University
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.

* Information listed above is at the time of submission. *

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