Scene Estimation & Situational Awareness Mapping Engine (SESAME)

Award Information
Agency: Department of Defense
Branch: Army
Contract: DAAE07-02-C-L001
Agency Tracking Number: A002-2560
Amount: $729,997.00
Phase: Phase II
Program: SBIR
Solicitation Topic Code: N/A
Solicitation Number: N/A
Timeline
Solicitation Year: N/A
Award Year: 2002
Award Start Date (Proposal Award Date): N/A
Award End Date (Contract End Date): N/A
Small Business Information
725 Concord Avenue, Cambridge, MA, 02138
DUNS: 115243701
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Magnus Snorrason
 Principal Scientist
 (617) 491-3474
 msnorrason@cra.com
Business Contact
 Paul Gonsalves
Title: Vice President
Phone: (617) 491-3474
Email: pgonsalves@cra.com
Research Institution
N/A
Abstract
"We propose to develop a Scene Estimation & Situational Awareness Mapping Engine (SESAME) enabling mobile robots to autonomously build multi-resolution volumetric models of semi-structured scenes, such as parking lots and city streets. Our model generationalgorithm is suited for both single-camera and stereo setups, enabling 3-D sensing of the environment all around the robot using only a few low-cost cameras. For example, a SESAME equipped robot can quickly build a low-resolution 3-D model of a row ofcars, automatically detecting occupied spaces, then approach a specific car and build a high-resolution model from a few stereo snapshots. This can be used onboard to determine the type of car and locate its license plate, or the high-resolution model canbe segmented out and sent back to an operator who can view it from a person-height viewpoint rather than robot height. As new views of the scene are obtained, the model is updated and changes are tracked (such as cars arriving or departing). Since therobot's position must be accurately known, we also present techniques for determining the position and orientation of the camera with respect to existing maps. We will deliver SESAME as an integrated system capable of near-real-time operation."

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

Agency Micro-sites

SBA logo
Department of Agriculture logo
Department of Commerce logo
Department of Defense logo
Department of Education logo
Department of Energy logo
Department of Health and Human Services logo
Department of Homeland Security logo
Department of Transportation logo
Environmental Protection Agency logo
National Aeronautics and Space Administration logo
National Science Foundation logo
US Flag An Official Website of the United States Government