Precise Targeting of Tomahawk Cruise Missile Using Low-Cost, Low-Quality Miniature Unmanned Aerial Vehicle (UAV) Sensor Data Navy SBIR FY2005.2 Sol No.: Navy SBIR FY2005.2 Topic No.: N05-114 Topic Title: Precise Targeting of Tomahawk Cruise Missile Using Low-Cost, Low-Quality Miniature Unmanned Aerial Vehicle (UAV) Sensor Data Proposal No.: N052-114-0535 Firm: SET Associates Corporation 3811 N. Fairfax Drive Suite 350 Arlington, Virginia 22203 Contact: Reuven Meth Phone: (301) 220-2123 Web Site: www.setassociates.com Abstract: We propose methodologies for using Miniature unmanned Air Vehicle (MAV) sensor data to enhance Tomahawk Land Attack Missile (TLAM) targeting. Our approach uses 3D contextual information of the area available from existing DOD databases to determine MAV sensor pose. Optimization is performed to refine the camera orientation to improve pose accuracy. For relatively flat targets, the 3D world coordinates of a target selected in the 2D imagery are determined using the projection properties of the sensor. For targets with significant elevation, multi view processing is performed to determine accurate 3D positioning. We demonstrate additional capabilities for accurate targeting without pre-existing 3D models when GPS and IMU data are available. Error bounds relating the required system resolution and control point accuracy to targeting position estimation accuracy will be quantified. During Phase I, we will build on our past work on image to 3D registration to provide reliable targeting from videos acquired by MAVs. Phase II efforts will focus on developing a prototype of the proposed system. Benefits: Primary applications of the proposed work include surveillance and remote sensing applications. Continuous monitoring of aimpoints delineated in surveillance video would be a direct application of this technology. The developed system would enable the determination of the 3D position of a suspect via delineation from 2D surveillance video, which may then be used to cue additional surveillance video for seamless tracking. These could be directly applied to Homeland Security (e.g. coastline and border monitoring), law enforcement, and disaster response applications. Return