Visual Odometry and Automatic 3D Model Construction for MAVs

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: W31P4Q-05-C-0160
Agency Tracking Number: 05ST1-0037
Amount: $98,957.00
Phase: Phase I
Program: STTR
Awards Year: 2005
Solicitation Year: 2005
Solicitation Topic Code: ST051-003
Solicitation Number: N/A
Small Business Information
1750 Kraft Drive, Suite 1400, Blacksburg, VA, 24060
DUNS: 095583501
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Paul Gelhausen
 (757) 886-2611
Business Contact
 Nanci Hardwick
Title: CFO
Phone: (540) 961-0067
Research Institution
 David Nister
 College of Engineering , 351 RGAN Bldg.
Lexington, KY, 40506
 (859) 257-8827
 Nonprofit college or university
We propose to commercialize the real-time visual odometry and automatic 3D model construction method developed by David Nister for use on Micro Air Vehicles. The system will be developed for the Honeywell MAV and tested on that platform. The front end of the system is a feature tracker. Point features are matched between pairs of frames and linked into image trajectories at video rate. Robust estimates of the camera motion are then produced from the feature tracks using a geometric hypothesize-and-test architecture. An important strength of this real-time approach is that it also provides a sparse estimate of 3D structure.

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

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