Structure from Motion

Award Information
Agency: Department of Defense
Branch: Air Force
Contract: FA8651-06-C-0113
Agency Tracking Number: F041-170-3145
Amount: $749,988.00
Phase: Phase II
Program: SBIR
Awards Year: 2006
Solicitation Year: 2004
Solicitation Topic Code: AF04-170
Solicitation Number: 2004.1
Small Business Information
3475 Edison Way Bldg P, Menlo Park, CA, 94025
DUNS: 809641533
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Michael Lin
 Staff Scientist
 (650) 369-6783
Business Contact
 Robert Clark
Title: President
Phone: (650) 369-6783
Research Institution
We propose to develop a superior 3D surface reconstruction algorithm that operates on monocular aerial video. High quality pose estimates from inertial data will be used to construct dense depth maps of the 3D environment. Each 3D pixel in the reconstruction will be extracted from multiple views in the redundant video stream to minimize the error in the reconstruction. We will refine and adapt the design of our reconstruction algorithms to make them suitable for hard-silicon logic implementation such as FPGAs or ASICs. The algorithms will be optimized for massively parallel image processing overseen by relatively few processors of greater sophistication. A two pass workflow will be implemented where terrain appearing in the field of view will first be reconstructed with relatively low depth resolution, followed by successively more accurate reconstruction as a region traverses the field and available baseline and image count on subject increase. This also allows resolution to be variably dependent on processing power, groundspeed, and field of view. We will construct high quality poses for demonstration of our Phase II technology using a SfM approach which fuses GPS, inertial data and sparse visual features.

* information listed above is at the time of submission.

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