Mapping Of Local Environments for Reconnaissance And Training (MOLE-RAT)

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$69,983.00
Award Year:
2010
Program:
SBIR
Phase:
Phase I
Contract:
W56HZV-10-C-0195
Agency Tracking Number:
A093-196-0332
Solicitation Year:
n/a
Solicitation Topic Code:
Army 09-196
Solicitation Number:
n/a
Small Business Information
Charles River Analytics Inc.
625 Mount Auburn Street, Cambridge, MA, 02138
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
115243701
Principal Investigator:
Jonah McBride
Senior Scientist
(617) 491-3474
jmcbride@cra.com
Business Contact:
Ninos Hanna
Contract Specialist
(617) 491-3474
ouli@lcpegasus.com
Research Institution:
n/a
Abstract
Unmanned ground systems provide the warfighter with a variety of standoff capabilities. One application is remote entry and exploration of urban structures and other potentially dangerous enclosed spaces. A robot capable of autonomously navigating these structures while simultaneously building a 3D map of the interior would provide soldiers with data for interactive reconnaissance and mission rehearsal. We propose a solution that uses simultaneous localization and mapping (SLAM) to track the robotf?Ts location and build a 3D model of the scene using a stereo video camera and standard onboard motion sensors such as IMU and odometry. A particle filter is used to efficiently model and update the robot position and scene model, allowing the system to run in real-time. To mitigate the lack of scene texture typical of indoor imagery, we will employ line features in addition to traditional point features. Our system will also apply geometric constraints, such as planar surfaces and parallel walls, to generate more accurate and reliable location and mapping results. As part of the development effort we plan to perform a thorough system evaluation which will assess the effectiveness of system components and guide the construction of a full system prototype.

* information listed above is at the time of submission.

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