Landmark Navigation for Unmanned Ground Vehicles

Award Information
Agency: Department of Defense
Branch: Army
Contract: W56HZV-13-C-0025
Agency Tracking Number: A12A-030-0197
Amount: $98,418.00
Phase: Phase I
Program: STTR
Awards Year: 2012
Solicitation Year: 2012
Solicitation Topic Code: A12a-T030
Solicitation Number: 2012.A
Small Business Information
28 Corporate Drive, Clifton Park, NY, -
DUNS: 010926207
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Amitha Perera
 Technical Leader
 (518) 881-4940
 amitha.perera@kitware.com
Business Contact
 Vicki Rafferty
Title: Contracts Administrator
Phone: (518) 881-4401
Email: contracts@kitware.com
Research Institution
 Texas Engineering Experiment Statio
 Heather Henry
 400 Harvey Mitchell Parkway S.
Suite 200
College Station, TX, 77845-4375
 (979) 845-5464
 Nonprofit college or university
Abstract
We propose a novel robot navigation paradigm based on high-level visual landmarks, including structural landmarks and object-level landmarks. The system will use our novel multilayered-feature graph (MFG) to combine multiple, heterogeneous features (from points to planes to vanishing points) robustly into a single, hierarchical framework for scene structure. It will combine this with salient scene element segmentation to generate object-level landmarks with rich geometry. It will use a behavior-based control model to navigate using with respect the high-level landmarks. A predictive display will enable tele-operation with supervisory control that will allow high-level commands, such as''follow this wall'and''go around that object'.

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

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