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Doctorate Consortium Proposal

This research concentrates on defense-type systems for operational awareness using virtual reality solutions. Many computer vision solutions in defense environments concentrate on removing user decision from systems for automation, but in doing so remove trained military professionals from decision making. Instead this research looks to reintegrate the military professional by providing a real-time point cloud visualization of a previously unmapped environment, in virtual reality, for remote operation of an unmanned vehicle. Due to an interest in a low-cost and modular system, that could be used on a variety of unmanned vehicles, including those used in underwater environments, the solution has moved away from LIDAR and Kinnect's laser-based systems and towards stereo cameras, particularly webcams. While looking to provide this approach, several other areas of interest become apparent, including the need to have a reliable stereo reconstruction under variant lighting conditions, particularly in the case of backlight in natural environments. Consequently, a variety of keypoint detection algorithms and point cloud reconstruction methods are being explored in conjunction with their usefulness within real-time constraints and with low-resolution images. Also, it will require evaluating different point cloud render techniques such as splatting, and storing the data in reliable data structures for effective LODs for real-time rendering. Then, finally, it will be important to explore research on effective user operated virtual environments and simulations to determine best practices for navigation and interface in the front-facing part of the system that allows the user operation.