SCAFLE - Self Calibrating, Adaptive, Fused LIDAR/EO Sensor

Award Information
Agency:
Department of Defense
Branch
Navy
Amount:
$79,984.00
Award Year:
2011
Program:
STTR
Phase:
Phase I
Contract:
N00014-11-M-0320
Award Id:
n/a
Agency Tracking Number:
N11A-020-0327
Solicitation Year:
2011
Solicitation Topic Code:
N11A-T020
Solicitation Number:
2011.A
Small Business Information
555 Quince Orchard Road, Suite 300, Gaithersburg, MD, -
Hubzone Owned:
N
Minority Owned:
Y
Woman Owned:
N
Duns:
121257443
Principal Investigator:
Karl Kluge
Senior Engineer
(240) 631-0008
Kluge@roboticresearch.com
Business Contact:
Alberto Lacaze
President
(240) 631-0008
lacaze@roboticresearch.com
Research Institution:
Jet Propulsion Laboratory
Douglas Gilbertson
4800 Oak Grove Drive
Pasadena, CA, 91109-
(818) 393-3458
Federally funded R&D center (FFRDC)
Abstract
The ability to fuse electro-optical (EO) imagery with range data enhances the robustness of unmanned ground vehicle (UGV) autonomy by allowing discrimination between types of terrain that cannot be distinguished on the basis of geometry alone (non-traversable mud vs. dry soil, non-traversable rocks vs. traversable brush, etc.). Performing this fusion requires knowing both the intrinsic (optical center, focal length, etc.) and extrinsic (relative offset and orientation) calibration parameters of the sensors. These can vary over time as sensors are replaced due to damage, the system is jolted during use, etc. In order to be practical for warfighter use, such a fused sensor system needs to be able to self-calibrate using features of the environment, and to adaptively update that calibration as shock or other sources of variation cause it to change. Such adaptive self-calibration avoids the need to train warfighters in calibration procedures, and eliminates the need for additional equipment. We propose designing a compact, low-cost Self-Calibrating (Adaptive) Fusion of LADAR and EO imagery (SCAFLE) sensor that will provide fused visible multi-spectral EO and LADAR range data covering a full 360 degree field of regard to support perception capabilities such as terrain classification and visual odometry.

* 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

Enviromental Protection Agency logo

National Aeronautics and Space Administration logo

National Science Foundation logo
US Flag An Official Website of the United States Government