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

Award Information
Agency:
Department of Defense
Branch
Air Force
Amount:
$100,000.00
Award Year:
2005
Program:
STTR
Phase:
Phase I
Contract:
FA9550-05-C-0158
Award Id:
73355
Agency Tracking Number:
F054-006-0368
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
814 W. Diamond Ave., Suite 301, Gaithersburg, MD, 20878
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
121257443
Principal Investigator:
Alberto Lacaze
President
(240) 631-0008
lacaze@roboticresearch.com
Business Contact:
Alberto Lacaze
President
(240) 631-0008
lacaze@roboticresearch.com
Research Institution:
JET PROPOULSION LABORATORY
Robert S Cox
4800 Oak Grove Drive
Pasadena, CA, 91109
(818) 354-4321
Federally funded R&D center (FFRDC)
Abstract
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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