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Proceedings Paper

A robust real-time structure from motion for situational awareness and RSTA
Author(s): M. Shim; S. Yilma; K. Bonner
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Paper Abstract

Maintaining real-time situational awareness of military combat vehicles (manned/unmanned) with onboard vision sensors for either autonomous mobility or reconnaissance missions such as moving target indication (MTI) and automatic target recognition (ATR) while the vehicle is on the move has been technically and operationally challenging. In this paper, we investigate and present a practical implementation of a robust real-time structure from motion technique that allows moving robotic vehicles to be able to reconstruct 3D models from observed 2D features with dynamically adjusting motion parameters. We also demonstrate applications that locate and track moving targets within the structured environment built by the SFM and recognize the targets such as vehicles and humans through a hierarchical shape model.

Paper Details

Date Published: 16 April 2008
PDF: 11 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 696205 (16 April 2008); doi: 10.1117/12.778074
Show Author Affiliations
M. Shim, General Dynamics Robotic Systems (United States)
S. Yilma, General Dynamics Robotic Systems (United States)
K. Bonner, General Dynamics Robotic Systems (United States)


Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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