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GEOFF: Geo-location from Edges, Objects, Foundational data, and a Filter

Award Information
Agency: Department of Defense
Branch: National Geospatial-Intelligence Agency
Contract: HM047618C0051
Agency Tracking Number: NGA-P1-18-02
Amount: $99,944.00
Phase: Phase I
Program: SBIR
Solicitation Topic Code: NGA181-007
Solicitation Number: 2018.1
Timeline
Solicitation Year: 2018
Award Year: 2018
Award Start Date (Proposal Award Date): 2018-09-06
Award End Date (Contract End Date): 2019-06-15
Small Business Information
500 West Cummings Park, Woburn, MA, 01801
DUNS: 859244204
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: Y
Principal Investigator
 Richard Madison
 (781) 933-5355
 richard.madison@ssci.com
Business Contact
 Lora Loyall
Phone: (781) 933-5355
Email: contracts@ssci.com
Research Institution
N/A
Abstract
Ground vehicles with navigation capability (e.g., GPS) can index into foundation data (e.g., Google Maps) to gain situational awareness abouttheir surroundings. When GPS and RF navigation sources are degraded, maintaining situational awareness requires an alternative navigationsource. One alternative source is the foundation data itself. The data contain objects at known 3D locations, which project into cameraimagery at measurable 2D locations depending on the pose (position and orientation) of the camera. We propose to determine the camerapose by matching 2D projections of 3D landmarks by combining two image-based navigation approaches: visual-inertial odometry andlandmark matching. The approach operates on a list of 3D building edges and object locations extracted from foundation data. The odometerestimates the cameras pose, which the landmark matcher uses to predict which edges and objects appear in imagery, and where. The matchersearches tight search windows for specific edges and objects, minimizing computation (allowing time to search for more objects) andminimizing opportunity for false matches (allowing lower recognition thresholds to detect noisier objects). The odometer uses the 2D/3Dmatches to form absolute updates to cancel navigation drift. The result is accurate, non-drifting, GPS-denied navigation and more matches tofoundation data objects.

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

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