Contamination Mapping the Agentase Disclosure Spray Using Simultaneous Localization and Mapping and Augmented Reality
Scott Donahue
Project Manager, FLIR Detection
2240 William Pitt Way, Pittsburgh, PA 15238, USA
Email: scott.donahue@flir.com | www.flir.com
Agentase Disclosure Spray (ADS)
Scott Donahue, Deanne Applegate, Jessica Milke, and Jeremy Walker, PhD
Wide-Area Chemical Release Mapping
Contamination Indicator / Decon Assurance
System (CIDAS)
• Mission: Field Agent Disclosure Spray
(Nerve & Training) to Joint Services for
Contamination Disclosure and Decon
Assurance / Validation
• Customer: JPEO CBRND – JPM
Protection
• Users: Army, Air Force, Marines,
USSOCOM
• FLIR is the sole prime contractor
• EMD 2015 – 2017
• LRIP 2017 – 2019
• FRP 2019 – 2025
• Blister Agent formulation to transition in
2019
Vehicle Contamination Mapping
• Develop a system for high-
resolution 3D digital
contamination mapping in order
to locate, tag, store, and recall
ADS contamination information
• Enable real-time detection signal
augmentation
• Facilitate focused decon and
decon assurance operations
• Interface with future
autonomous/robotic
decontamination capabilities
SLAM using Stereo Cameras
• SLAM: Simultaneous Localization and Mapping
• Construction of a map of an unknown environment while
keeping track of the camera location within it
• Stereo cameras use triangulation for 3D sensing
• Similar to human vision
• Correspondence attempted between cameras for every
stereo image pixel results in tens of thousands of 3D values
• Visual odometry for positional tracking
FLIR BPC 2500 camera
FLIR IIS Stereo Camera
Current use of the FLIR IIS stereo camera (BPC 2500)
• Mostly used as a closed product for people tracking in
retail stores
• Also used for assisted boat docking by Raymarine
Merits of the BPC camera over other stereo cameras
• Ethernet interface, on-board stereo processing, high
calibration accuracy
• Onboard System on a Chip (SoC) makes the product
flexible to adjust for particular application
Using Stereo Cameras to generate 3D Models
Area Mapping and Signal Detection
• Demo app on Google
Tango area learning
platform
• Red color detected and
augmented on live video
• Location of threat is
tagged
• Augmentation stays in
place after signal is
gone
• Ideal for Mapping and
Tagging Chemical
Threats over large areas
ADS Signal Detection
Map
Contamination
Recall
Data
Recall and
Update Data
Decon Triage with ADS
Sensitive Site Assessment & Exploitation
• Tagged ADS location can be sampled for downrange confirmatory GC/MS
analysis in the hot-zone to identify the chemical threat.
1. Sample the ADS
positive test result
3. Inject it on the Griffin 510 GCMS
to identify the chemical species
2. Extract the sampler
Acknowledgments
• FLIR
• Integrated Imaging
Solutions
• Intelligent Transportation
Solutions
• Raymarine
• Novacoast, Inc.
• Blackmore Sensors and Analytics,
Inc.
• ADS development funding
• Defense Threat
Reduction Agency
• Joint Program
Executive Office
CBRND
• Army Research
Office
• ADS can be used to map contamination on terrain to minimize the spread
of contamination and assist with remediation.
• Sprayable enzyme-based indicator that can be used for detection and mapping CWA
• contamination over large surfaces
• Available at handheld and wide area scales for different missions / applications
Decontamination
SSA/SSE Missions
Protective Equipment Doffing
Consequence Management
• Red detection challenges
• Dark surfaces
• Porous surfaces
• Shaded areas
• Low light conditions
• Risk management
• ADS fluorescent additive
• Excited with blue light, observed
with orange filter
• LIDAR-higher resolution 3D
modeling
• Machine learning – train camera
and algorithm to identify threats
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