NASA STTR 2017 Solicitation

FORM B - PROPOSAL SUMMARY


PROPOSAL NUMBER: 171 T4.01-9886
RESEARCH SUBTOPIC TITLE: Information Technologies for Intelligent and Adaptive Space Robotics
PROPOSAL TITLE: Unified Representation for Collaborative Visualization and Processing of Terrain Data

SMALL BUSINESS CONCERN (SBC): RESEARCH INSTITUTION (RI):
NAME: DigitalFish, Inc. NAME: Carnegie Mellon University
STREET: 20 N San Mateo Dr Ste 3 STREET: 5000 Forbes Avenue
CITY: San Mateo CITY: Pittsburgh
STATE/ZIP: CA  94401 - 2883 STATE/ZIP: PA  15213 - 3815
PHONE: (415) 699-2734 PHONE: (412) 268-1206

PRINCIPAL INVESTIGATOR/PROJECT MANAGER (Name, E-mail, Mail Address, City/State/Zip, Phone)
Daniel L. Herman
dh@digitalfish.com
20 N San Mateo Dr Ste 3
San Mateo, CA 94401 - 2824
(415) 699-2734

CORPORATE/BUSINESS OFFICIAL (Name, E-mail, Mail Address, City/State/Zip, Phone)
Peggy Ary
peggy@digitalfish.com
20 N San Mateo Dr Ste 3
San Mateo, CA 94401 - 2883
(415) 634-0861

Estimated Technology Readiness Level (TRL) at beginning and end of contract:
Begin: 3
End: 4

Technology Available (TAV) Subtopics
Information Technologies for Intelligent and Adaptive Space Robotics is a Technology Available (TAV) subtopic that includes NASA Intellectual Property (IP). Do you plan to use the NASA IP under the award?
No

TECHNICAL ABSTRACT (Limit 2000 characters, approximately 200 words)
We build upon our prior work applying subdivision surfaces (subdivs) to planetary terrain mapping. Subdivs are an alternative, multi-resolution method with many advantages over conventional digital elevation maps (DEM's) and fixed-resolution meshes. The proposed research is innovative in presenting a new setting for subdivs demanding novel extensions to subdiv algorithms, techniques and theory as well as new methods in merging of terrain data from multiple sources. Our primary objectives are to: (1) develop a prototype mapping system using subdivs as a representation for terrain data with highly varied spatial resolution and 3-D features; (2) extend our novel volumetric merging method, integrating input data at varied confidence levels from varied source formats (DEM, point cloud, range data, etc.) while supporting overhanging and cave-like terrain geometry; (3) demonstrate collaborative use of registered surface detail with terrain-mapped data fields such as terrain color, confidence estimates, and science-data overlays; and (4) show, via high-quality DEM extraction, compatibility with existing systems including applicability for autonomous processing on small, weight- and power-constrained (SWAP) robots. The expected benefits are: (a) higher-fidelity terrain visualization with reduced processing error and lower infrastructure requirements; (b) ability to visualize 3-D features, such as overhangs, missed in DEM's; (c) compact encoding with natural level-of-detail control for interactive viewing on mobile devices; (d) greater algorithmic efficiency for non-visualization scientific computation; and (e) enablement of new software-tool capabilities for dynamic mapping of alternative local-terrain datasets, non-destructive experimentation, collaboration, and data traceability. The innovation also promises capability and reliability benefits to robots by unifying terrain representations and enabling minimal upload of only incremental terrain details from the ground.

POTENTIAL NASA COMMERCIAL APPLICATIONS (Limit 1500 characters, approximately 150 words)
Planetary terrain mapping in support of scientists and mission planners - Lunar terrain mapping with rapid editing for future high-tempo missions - Regolith mapping - Scalable processing for autonomous planning, simulation and payload data triage, e.g., on size-, weight- and power-constrained (SWAP) robots and devices - Representation of rover and tool geometry in a common format with terrain for unified planning, processing and immersive visualization - Representation of structured (man-made) environments for robot operations - Earth terrain mapping in support of field scientists with mobile devices - Earth terrain mapping in support of changing-landscape studies, e.g., involving polar-ice remodeling due to climate change or representing erosion progression in coastal studies.

POTENTIAL NON-NASA COMMERCIAL APPLICATIONS (Limit 1500 characters, approximately 150 words)
New terrain methods for military or commercial mapping, including for mobile use by soldiers and field workers - New methods for bathymetry representation and visualization for naval and commercial-marine applications - New methods for offline terrain rendering, for example for film production - New methods for real-time terrain rendering, for example for commercial and military flight simulation and for immersive 3-D computer games - New methods for terrain data processing in support of autonomous vehicle and commercial drone navigation.

TECHNOLOGY TAXONOMY MAPPING (NASA's technology taxonomy has been developed by the SBIR-STTR program to disseminate awareness of proposed and awarded R/R&D in the agency. It is a listing of over 100 technologies, sorted into broad categories, of interest to NASA.)
Autonomous Control (see also Control & Monitoring)
Command & Control
Data Acquisition (see also Sensors)
Data Fusion
Data Processing
Knowledge Management
Navigation & Guidance
Ranging/Tracking
Robotics (see also Control & Monitoring; Sensors)
Teleoperation

Form Generated on 04-19-17 12:45