Efficient Structure from Motion for 3d Reconstruction of Static Background and Moving Targets

Award Information
Agency: Department of Defense
Branch: Air Force
Contract: FA9550-05-C-0158
Agency Tracking Number: F054-006-0368
Amount: $100,000.00
Phase: Phase I
Program: STTR
Awards Year: 2005
Solicitation Year: 2005
Solicitation Topic Code: AF05-T006
Solicitation Number: N/A
Small Business Information
814 W. Diamond Ave., Suite 301, Gaithersburg, MD, 20878
DUNS: 121257443
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: Y
Principal Investigator
 Alberto Lacaze
 (240) 631-0008
Business Contact
 Alberto Lacaze
Title: President
Phone: (240) 631-0008
Email: lacaze@roboticresearch.com
Research Institution
 Robert S Cox
 4800 Oak Grove Drive
Pasadena, CA, 91109
 (818) 354-4321
 Federally funded R&D center (FFRDC)
Modern munitions need the ability to track moving targets with passive sensors. This requires a 3D reconstruction of both the background scene and moving objects. Normally this is done with stereo vision to generate a 3-D scene. Unfortunately, the use of paired cameras on munitions is difficult due to the need for spatial separation of the cameras for resolution and the general desire to minimize the weight and cost of seeker payloads. Single cameras provide 2-D representations that are intrinsically ambiguous, since one dimension is lost in the projection from the 3-D world onto a 2-D imaging sensor. One way to overcome this loss is to use the dimension of time and movement of the camera. Given a series of images of a scene, typically taken by a video camera, it is sometimes possible to recover some of this lost 3-dimensional information with a technique called Structure from Motion. Robotic Research, LLC in conjunction with the Jet Propulsion Laboratory proposes to develop an efficient hardware-based Structure from Motion (SFM) module for static scenes and moving targets. This research effort will advance the ability to jointly reconstruct static backgrounds and moving targets using single passive sensor.

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

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