Jasper Lupo

Testing and evaluation of a wearable augmented reality system for natural outdoor environments

Head- and Helmet-Mounted Displays XVIII: Design and Applications, 2013

ABSTRACT This paper describes performance evaluation of a wearable augmented reality system for n... more ABSTRACT This paper describes performance evaluation of a wearable augmented reality system for natural outdoor environments. Applied Research Associates (ARA), as prime integrator on the DARPA ULTRA-Vis (Urban Leader Tactical, Response, Awareness, and Visualization) program, is developing a soldier-worn system to provide intuitive ‘heads-up’ visualization of tactically-relevant geo-registered icons. Our system combines a novel pose estimation capability, a helmet-mounted see-through display, and a wearable processing unit to accurately overlay geo-registered iconography (e.g., navigation waypoints, sensor points of interest, blue forces, aircraft) on the soldier’s view of reality. We achieve accurate pose estimation through fusion of inertial, magnetic, GPS, terrain data, and computer-vision inputs. We leverage a helmet-mounted camera and custom computer vision algorithms to provide terrain-based measurements of absolute orientation (i.e., orientation of the helmet with respect to the earth). These orientation measurements, which leverage mountainous terrain horizon geometry and mission planning landmarks, enable our system to operate robustly in the presence of external and body-worn magnetic disturbances. Current field testing activities across a variety of mountainous environments indicate that we can achieve high icon geo-registration accuracy (&lt;10mrad) using these vision-based methods.

Transformation and Transition: DARPA's Role in Fostering and Emerging Revolution in Military Affairs, Volume 1, Overall Assessment

DARPA's primary mission is to foster advanced technologies and systems that create "revolutionary... more DARPA's primary mission is to foster advanced technologies and systems that create "revolutionary" advantages for the US military. Consistent with this mission, DARPA is independent from the military Services and pursues generally higher-risk, higher-payoff research and development (R&D) projects. DARPA program managers are encouraged to challenge existing approaches to warfighting and to seek results rather than just explore ideas. Hence, in addition to supporting technology and component development, DARPA on occasion funds the integration of large-scale "systems of systems" in order to demonstrate "disruptive capabilities." Disruptive capabilities are more than just new technologies; they are transformations in operations and strategy enabled by synergistic combinations of technologies.

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Transformation and Transition: DARPA's Role in Fostering an Emerging Revolution in Military Affairs. Volume 2- Detailed Assessments

DARPA's primary mission is to foster advanced technologies and systems that create "revolutionary... more DARPA's primary mission is to foster advanced technologies and systems that create "revolutionary" advantages for the US military. Consistent with this mission, DARPA is independent from the military Services and pursues generally higher-risk, higher-payoff research and development (R&D) projects. DARPA program managers are encouraged to challenge existing approaches to warfighting and to seek results rather than just explore ideas. Hence, in addition to supporting technology and component development, DARPA on occasion funds the integration of large-scale "systems of systems" in order to demonstrate "disruptive capabilities." Disruptive capabilities are more than just new technologies; they are transformations in operations and strategy enabled by synergistic combinations of technologies.

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Autonomous UAV-based mapping of large-scale urban firefights

by Jasper Lupo, Stephen Snarski, and William Judge

Proceedings of Spie the International Society For Optical Engineering, May 1, 2006

This paper describes experimental results from a live-fire data collect designed to demonstrate t... more This paper describes experimental results from a live-fire data collect designed to demonstrate the ability of IR and acoustic sensing systems to detect and map high-volume gunfire events from tactical UAVs. The data collect supports an exploratory study of the FightSight concept in which an autonomous UAV-based sensor exploitation and decision support capability is being proposed to provide dynamic situational awareness for large-scale battalion-level firefights in cluttered urban environments. FightSight integrates IR imagery, acoustic data, and 3D scene context data with prior time information in a multi-level, multi-step probabilistic-based fusion process to reliably locate and map the array of urban firing events and firepower movements and trends associated with the evolving urban battlefield situation. Described here are sensor results from live-fire experiments involving simultaneous firing of multiple sub/super-sonic weapons (2-AK47, 2-M16, 1 Beretta, 1 Mortar, 1 rocket) with high optical and acoustic clutter at ranges up to 400m. Sensor-shooter-target configurations and clutter were designed to simulate UAV sensing conditions for a high-intensity firefight in an urban environment. Sensor systems evaluated were an IR bullet tracking system by Lawrence Livermore National Laboratory (LLNL) and an acoustic gunshot detection system by Planning Systems, Inc. (PSI). The results demonstrate convincingly the ability for the LLNL and PSI sensor systems to accurately detect, separate, and localize multiple shooters and the associated shot directions during a high-intensity firefight (77 rounds in 5 sec) in a high acoustic and optical clutter environment with very low false alarms. Preliminary fusion processing was also examined that demonstrated an ability to distinguish co-located shooters (shooter density), range to <0.5 m accuracy at 400m, and weapon type. The combined results of the high-intensity firefight data collect and a detailed systems study demonstrate the readiness of the FightSight concept for full system development and integration.

Real-time implementation of a differential range finder

by Jasper Lupo, Martin Herman, and Ramesh Rangachar

A scheme is presented for the estimation of differential ranges on the basis of optical flow alon... more A scheme is presented for the estimation of differential ranges on the basis of optical flow along a known direction, giving attention to the factors affecting the accuracy of results and various spatial and temporal smoothing algorithms employed to enhance the method's accuracy. It is found that while the use of edge detectors reduces noise, a priori knowledge of the environment improves the method's range discriminability. The method has been implemented on a real-time, high speed pipelined image processing engine capable of processing 60 image frames/sec, using a horizontally moving camera which generates optical flow along a scan line.

Real-time differential range estimation based on time-space imagery using PIPE

Proceedings of SPIE - The International Society for Optical Engineering

Image flow, the apparent motion of brightness patterns on the image plane, can provide important ... more

Transformation and Transition: DARPA's Role in Fostering an Emerging Revolution in Military Affairs Volume 1 - Overall Assessment

DARPA's primary mission is to foster advanced technologies and systems that create "revolutionary... more DARPA's primary mission is to foster advanced technologies and systems that create "revolutionary" advantages for the US military. Consistent with this mission, DARPA is independent from the military Services and pursues generally higher-risk, higher-payoff research and development (R&D) projects. DARPA program managers are encouraged to challenge existing approaches to warfighting and to seek results rather than just explore ideas. Hence, in addition to supporting technology and component development, DARPA on occasion funds the integration of large-scale "systems of systems" in order to demonstrate "disruptive capabilities." Disruptive capabilities are more than just new technologies; they are transformations in operations and strategy enabled by synergistic combinations of technologies.

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<title>Project Responder: technology needs for local emergency response</title>

Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Defense and Law Enforcement II, 2003

<title>Real-time differential range estimation based on time-space imagery using PIPE</title>

by Jasper Lupo and Randall Luck

Real-Time Image Processing II, 1990

ABSTRACT

<title>Real-time implementation of a differential range finder</title>

Real-Time Image Processing II, 1990

ABSTRACT

Advances in Medical Infrared Imaging

Medical Infrared Imaging, 2007

Testing and evaluation of a wearable augmented reality system for natural outdoor environments

by Brian Clipp, Eric Wenger, and Jasper Lupo

Head- and Helmet-Mounted Displays XVIII: Design and Applications, 2013

ABSTRACT This paper describes performance evaluation of a wearable augmented reality system for n... more ABSTRACT This paper describes performance evaluation of a wearable augmented reality system for natural outdoor environments. Applied Research Associates (ARA), as prime integrator on the DARPA ULTRA-Vis (Urban Leader Tactical, Response, Awareness, and Visualization) program, is developing a soldier-worn system to provide intuitive ‘heads-up’ visualization of tactically-relevant geo-registered icons. Our system combines a novel pose estimation capability, a helmet-mounted see-through display, and a wearable processing unit to accurately overlay geo-registered iconography (e.g., navigation waypoints, sensor points of interest, blue forces, aircraft) on the soldier’s view of reality. We achieve accurate pose estimation through fusion of inertial, magnetic, GPS, terrain data, and computer-vision inputs. We leverage a helmet-mounted camera and custom computer vision algorithms to provide terrain-based measurements of absolute orientation (i.e., orientation of the helmet with respect to the earth). These orientation measurements, which leverage mountainous terrain horizon geometry and mission planning landmarks, enable our system to operate robustly in the presence of external and body-worn magnetic disturbances. Current field testing activities across a variety of mountainous environments indicate that we can achieve high icon geo-registration accuracy (&lt;10mrad) using these vision-based methods.

<title>Autonomous UAV-based mapping of large-scale urban firefights</title>

Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications III, 2006

This paper describes experimental results from a live-fire data collect designed to demonstrate t... more This paper describes experimental results from a live-fire data collect designed to demonstrate the ability of IR and acoustic sensing systems to detect and map high-volume gunfire events from tactical UAVs. The data collect supports an exploratory study of the FightSight concept in which an autonomous UAV-based sensor exploitation and decision support capability is being proposed to provide dynamic situational awareness for large-scale battalion-level firefights in cluttered urban environments. FightSight integrates IR imagery, acoustic data, and 3D scene context data with prior time information in a multi-level, multi-step probabilistic-based fusion process to reliably locate and map the array of urban firing events and firepower movements and trends associated with the evolving urban battlefield situation. Described here are sensor results from live-fire experiments involving simultaneous firing of multiple sub/super-sonic weapons (2-AK47, 2-M16, 1 Beretta, 1 Mortar, 1 rocket) with high optical and acoustic clutter at ranges up to 400m. Sensor-shooter-target configurations and clutter were designed to simulate UAV sensing conditions for a high-intensity firefight in an urban environment. Sensor systems evaluated were an IR bullet tracking system by Lawrence Livermore National Laboratory (LLNL) and an acoustic gunshot detection system by Planning Systems, Inc. (PSI). The results demonstrate convincingly the ability for the LLNL and PSI sensor systems to accurately detect, separate, and localize multiple shooters and the associated shot directions during a high-intensity firefight (77 rounds in 5 sec) in a high acoustic and optical clutter environment with very low false alarms. Preliminary fusion processing was also examined that demonstrated an ability to distinguish co-located shooters (shooter density), range to <0.5 m accuracy at 400m, and weapon type. The combined results of the high-intensity firefight data collect and a detailed systems study demonstrate the readiness of the FightSight concept for full system development and integration.

Advances in Medical Infrared Imaging

Electrical Engineering Handbook, 2006

From tanks to tumors

IEEE Engineering in Medicine and Biology Magazine, 2002

&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot;Tanks to Tumors&amp... more &amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot;Tanks to Tumors&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot; succeeded in bringing several different communities together--medical, military, academic, industrial, and engineering. They worked together in panels to determine how the United States might adopt thermal imaging diagnostic technology in an orderly and demonstrable way for the early detection of breast cancer and other conditions. The panel recommendations will serve to guide the transition of military technology developments in ATR, the VDL, and IR sensors to the civilian medical community. The result will be a new tool in the war against breast cancer--a major benefit to the military and civilian population. A CD of the workshop proceedings is available at no cost through Advanced Concepts Analysis, Falls Church, Virginia; +1 703 914 9237; e-mail: [email protected].

Early tumor detection by multiple infrared unsupervised neural nets fusion

… in Medicine and …, 2003

The unsupervised classification algorithm called Lagrange constraint neural network (LCNN) has be... more

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Soldier-worn augmented reality system for tactical icon visualization

by Brian Clipp, Eric Wenger, and Jasper Lupo

Head- and Helmet-Mounted Displays XVII; and Display Technologies and Applications for Defense, Security, and Avionics VI, 2012

ABSTRACT This paper describes the development and demonstration of a soldier-worn augmented reali... more ABSTRACT This paper describes the development and demonstration of a soldier-worn augmented reality system testbed that provides intuitive &#39;heads-up&#39; visualization of tactically-relevant geo-registered icons. Our system combines a robust soldier pose estimation capability with a helmet mounted see-through display to accurately overlay geo-registered iconography (i.e., navigation waypoints, blue forces, aircraft) on the soldier&#39;s view of reality. Applied Research Associates (ARA), in partnership with BAE Systems and the University of North Carolina - Chapel Hill (UNC-CH), has developed this testbed system in Phase 2 of the DARPA ULTRA-Vis (Urban Leader Tactical, Response, Awareness, and Visualization) program. The ULTRA-Vis testbed system functions in unprepared outdoor environments and is robust to numerous magnetic disturbances. We achieve accurate and robust pose estimation through fusion of inertial, magnetic, GPS, and computer vision data acquired from helmet kit sensors. Icons are rendered on a high-brightness, 40°×30° field of view see-through display. The system incorporates an information management engine to convert CoT (Cursor-on-Target) external data feeds into mil-standard icons for visualization. The user interface provides intuitive information display to support soldier navigation and situational awareness of mission-critical tactical information.

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