Landmark Navigation for Unmanned Ground Vehicles

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$98,418.00
Award Year:
2012
Program:
STTR
Phase:
Phase I
Contract:
W56HZV-13-C-0025
Award Id:
n/a
Agency Tracking Number:
A12A-030-0197
Solicitation Year:
2012
Solicitation Topic Code:
A12a-T030
Solicitation Number:
2012.A
Small Business Information
28 Corporate Drive, Clifton Park, NY, -
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
010926207
Principal Investigator:
Amitha Perera
Technical Leader
(518) 881-4940
amitha.perera@kitware.com
Business Contact:
Vicki Rafferty
Contracts Administrator
(518) 881-4401
contracts@kitware.com
Research Institute:
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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