Detecting and Tracking Multiple Moving Objects from a Moving Platform

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: W31P4Q-11-C-0173
Agency Tracking Number: 08SB2-0542
Amount: $749,953.00
Phase: Phase II
Program: SBIR
Awards Year: 2011
Solicitation Year: 2008
Solicitation Topic Code: SB082-029
Solicitation Number: 2008.2
Small Business Information
PO Box 202, West End of Second Street, Essington, PA, -
DUNS: 793042243
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Dean Anderson
 Robotics Engineer
 (610) 521-6115
Business Contact
 Gregory Piasecki
Title: Director of Commercializa
Phone: (610) 521-6115
Research Institution
We propose to demonstrate a"Tracking with Planning"module for tracking objects in a highly cluttered environment from a moving platform. This system is designed to track objects with multiple long occlusions, by anticipating where and how the objects might move. The main innovations are 1) actively anticipating objects'goals and intentions, 2) using motion planning to create multiple plausible predictions on objects'trajectories, and 3) online learning of visual features for discriminating similar nearby objects. In phase 1 we have demonstrated that the"Tracking with Planning"approach can overcome many problems associated with traditional tracking algorithms, such as drifting into background after multiple occlusions. We improved the tracking precision from 56% using Kalman filter to 87% using"Tracking with Planning."In phase 2 we propose to develop an active goal prediction system with multiple path generation. We plan to integrate bottom-up information from tracking and contextual visual information with top-down planning-based reasoning to create a robust tracking system. We can adapt our modular design to different operating environments from outdoor urban environments to indoor office settings. We plan to evaluate this system on a mobile ground platform as well as a simulated unmanned helicopter in preparation for flights on a tactical autonomous helicopter.

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

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