AutonoMouse

SENTEL’s project AutonoMouse was initiated as a proof of concept research and development project aimed at providing autonomous navigation and mapping capability in GPS denied environments for both DoD and civil first responder applications.

Objectives

Verify ability to integrate spatial data into a SENTEL built navigation engine which operates in GPS denied environments.

Provide a platform that supports modularization of mission profiles and payloads Plug and Play sensor payloads. Provide packages such as Video surveillance, acoustic (shot detection), personnel detection, CBRNE

Roving sentry security and Target acquisition

Concealed Detection

Swarm Node (network and sensor)

Confined space / tunnel characterization

Visual-Inertial Odometry

For this project SENTEL utilizes a navigation platform that combines a blend of technologies to create a navigational odometry system to accurately track the movement and location of its autonomous UGV without GPS.

This combines with inertial information, provided by motion sensors that track rotation and acceleration in space, creating a very accurate understanding of location through combined visual-inertial odometry.

Using a monocular camera, visual observations of environmental features are taken to determine the change vehicle in position based on changes in relative position of these features.

Simultaneous Localization and Mapping

Next the UGV utilizes Simultaneous Localization and Mapping (SLAM) using mathematical images of environmental features to map and store locations while it’s in motion. After an area has been learned the UGV is able to orient and position itself extremely accurately and correct for any drift in navigation.

3D Point Cloud

Finally the incorporation of range finding technology enables the generation of a 3D point cloud of its environment which is stored and can be used to better understand and characterize the environment. Videos and images of the AutonoMouse are included.