SOAR - Stereo Obstacle Avoidance Rig

DoD is currently using active sensors (LADAR and RADAR) to support terrain following to avoid enemy RADAR. Digital Elevation Maps are also used but the associated inaccuracies limit the minimum safe operating altitude to greater than 500 ft. DoD applications require 100% passive, day/night obstacle detection and avoidance for the use of UAS operating in combat arenas. The meet these requirements, OKSI (teaming with Georgia Institute of Technology) is developing the Stereo Obstacle Avoidance Rig (SOAR).SOAR utilizes a single forward-looking camera combined with real-time Structure from Motion (SfM) algorithms to produce 3D visualizations of the terrain. The 3D information is converted to a point cloud and fed to the obstacle avoidance and route planning software that autonomously maneuvers to avoid obstacles while maintaining low al-titude and arriving at the desired destination. The ultimate goal of the SOAR program is to develop robust hardware and algorithms for low light, passive terrain sensing. The SOAR system will provide the Navy, other DoD agencies, and even consumers with a solution for real-time obstacle avoidance for large and small airborne platforms.