Visual Odometry and Automatic 3D Model Construction for MAVs

Award Information
Agency:
Department of Defense
Branch
Defense Advanced Research Projects Agency
Amount:
$98,957.00
Award Year:
2005
Program:
STTR
Phase:
Phase I
Contract:
W31P4Q-05-C-0160
Award Id:
74354
Agency Tracking Number:
05ST1-0037
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
1750 Kraft Drive, Suite 1400, Blacksburg, VA, 24060
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
095583501
Principal Investigator:
Paul Gelhausen
CTO
(757) 886-2611
p.gelhausen@avidllc.biz
Business Contact:
Nanci Hardwick
CFO
(540) 961-0067
nanci@avidllc.biz
Research Institute:
UNIV. OF KENTUCKY
David Nister
College of Engineering , 351 RGAN Bldg.
Lexington, KY, 40506
(859) 257-8827
Nonprofit college or university
Abstract
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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