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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

A computational model for dynamic vision

This paper describes a novel computational model for dynamic vision which promises to be both powerful and robust. Furthermore the paradigm is ideal for an active vision system where camera vergence changes dynamically. Its basis is the retinotopically indexed object-centered encoding of the early visual information. Specifically, the relative distances of objects to a set of referents is encoded in image registered maps. To illustrate the efficacy of the method, it is applied to the problem of dynamic stereo vision. Integration of depth information over multiple frames obtained by a moving robot generally requires precise information about the relative camera position from frame to frame. Usually, this information can only be approximated. The method facilitates the integration of depth information without direct use or knowledge of camera motion.

Moezzi, Saied↗
NASA NTRS1995

Space Shuttle Main Engine Propellant Path Leak Detection Using Sequential Image Processing

Initial research in this study using theoretical radiation transport models established that the occurrence of a leak is accompanies by a sudden but sustained change in intensity in a given region of an image. In this phase, temporal processing of video images on a frame-by-frame basis was used to detect leaks within a given field of view. The leak detection algorithm developed in this study consists of a digital highpass filter cascaded with a moving average filter. The absolute value of the resulting discrete sequence is then taken and compared to a threshold value to produce the binary leak/no leak decision at each point in the image. Alternatively, averaging over the full frame of the output image produces a single time-varying mean value estimate that is indicative of the intensity and extent of a leak. Laboratory experiments were conducted in which artificially created leaks on a simulated SSME background were produced and recorded from a visible wavelength video camera. This data was processed frame-by-frame over the time interval of interest using an image processor implementation of the leak detection algorithm. In addition, a 20 second video sequence of an actual SSME failure was analyzed using this technique. The resulting output image sequences and plots of the full frame mean value versus time verify the effectiveness of the system.

Smith, L. Montgomery↗
NASA NTRS2000

A New Digital Holographic Instrument for Measuring Microphysical Properties of Contrails in the SASS (Subsonic Assessment) Program

SPEC incorporated designed, built and operated a new instrument, called a pi-Nephelometer, on the NASA DC-8 for the SUCCESS field project. The pi-Nephelometer casts an image of a particle on a 400,000 pixel solid-state camera by freezing the motion of the particle using a 25 ns pulsed, high-power (60 W) laser diode. Unique optical imaging and particle detection systems precisely detect particles and define the depth-of-field so that at least one particle in the image is almost always in focus. A powerful image processing engine processes frames from the solid-state camera, identifies and records regions of interest (i.e. particle images) in real time. Images of ice crystals are displayed and recorded with 5 micron pixel resolution. In addition, a scattered light system simultaneously measures the scattering phase function of the imaged particle. The system consists of twenty-eight 1-mm optical fibers connected to microlenses bonded on the surface of avalanche photo diodes (APDs). Data collected with the pi-Nephelometer during the SUCCESS field project was reported in a special issue of Geophysical Research Letters. The pi-Nephelometer provided the basis for development of a commercial imaging probe, called the cloud particle imager (CPI), which has been installed on several research aircraft and used in More than a dozen field programs.

Lawson, R. Paul↗
NASA NTRS2002

Application of DPIV to Enhanced Mixing Heated Nozzle Flows

Digital Particle Imaging Velocimetry (DPIV) is a planar velocity measurement technique that continues to be applied to new and challenging engineering research facilities while significantly reducing facility test time. DPIV was used in the GRC Nozzle Acoustic Test Rig (NATR) to characterize the high temperature (560 C), high speed (is greater than 500 m/s) flow field properties of mixing enhanced jet engine nozzles. The instantaneous velocity maps obtained using DPIV were used to determine mean velocity, rms velocity and two-point correlation statistics to verify the true turbulence characteristics of the flow. These measurements will ultimately be used to properly validate aeroacoustic model predictions by verifying CFD input to these models. These turbulence measurements have previously not been possible in hot supersonic jets. Mapping the nozzle velocity field using point based techniques requires over 60 hours of test time, compared to less than 45 minutes using DPIV, yielding a significant reduction in testing time. A dual camera DPIV configuration was used to maximize the field of view and further minimize the testing time required to map the nozzle flow. The DPIV system field of view covered 127 by 267 mm. Data were acquired at 19 axial stations providing coverage of the flow from the nozzle exit to 2.37 in downstream. At each measurement station, 400 image frame pairs were acquired from each camera. The DPIV measurements of the mixing enhanced nozzle designs illustrate the changes in the flow field resulting in the reduced noise signature.

Wernet, Mark P.↗
NASA NTRS2000

Far Ultraviolet Imaging from the Image Spacecraft: Wideband FUV Imaging - 2

The Far Ultraviolet Wideband Imaging Camera (WIC) complements the magnetospheric images taken by the IMAGE satellite instruments with simultaneous global maps of the terrestrial aurora. Thus, a primary requirement of WIC is to image the total intensity of the aurora in wavelength regions most representative of the aurora] source and least contaminated by dayglow, have sufficient field of view to cover the entire polar region from spacecraft apogee and have resolution that is Sufficient to resolve auroras on a scale of 1 to 2 latitude degrees, The instrument is sensitive in the spectral region from 140- 190 nm. The WIC is mounted on the rotating, IMAGE spacecraft viewing radially outward and has a field of view of 17 deg in the direction parallel to the spacecraft spin axis. Its field of view is 30 deg in the direction perpendicular to the spin axis, although only a 17 deg x 17 deg image of the Earth is recorded. The optics was an all-reflective, inverted Cassegrain Burch camera using concentric optics with a small convex primary and a large concave secondary mirror. The mirrors were coated by a special multi-layer coating, which has low reflectivity in the visible and near UV region, The detector consists of a MCP-Intensified CCD. The MCP is curved to accommodate the focal surface of the concentric optics. Tile phosphor of the image intensifier is deposited on a concave fiberoptic window, which is then Coupled to the CCD with a fiberoptic taper. The camera head operates in a fast frame transfer mode with the CCD being read approximately 30 full frames (512 by 256 pixel) per second with an exposure time of 0.033 s. The image motion (file to the satellite spin is minimal during such a short exposure. Each image is electronically distortion corrected using the look up table scheme. An offset is added to each memory address that is proportional to the image shift due to satellite rotation, and the charge signal is digitally summed in memory. On orbit, approximately 300 frames will be added to produce one WIC image in memory. The advantage of the electronic motion compensation and distortion correction is that it is extremely flexible, permitting several kinds of corrections including motions parallel and perpendicular to the predicted axis of rotation. File instrument was calibrated by applying ultraviolet light through a vacuum monochromator and measuring the absolute responsivity of the instrument. To obtain the data for the distortion look up table the camera was turned through various angles and the input angles corresponding to a pixel matrix were recorded. It was found that the spectral response peaked at 150 nm and fell off in either direction. The equivalent aperture of the camera, including mirror reflectivities and effective photocathode quantum efficiency, is about 0.04 sq cm. Thus, a 100 Rayleigh LBH aurora is expected to produce 23 equivalent counts per pixel per 10 s exposure at the peak of instrument response.

Mende, S. B.↗
NASA NTRS2013

Automatic Calibration of an Airborne Imaging System to an Inertial Navigation Unit

This software automatically calibrates a camera or an imaging array to an inertial navigation system (INS) that is rigidly mounted to the array or imager. In effect, it recovers the coordinate frame transformation between the reference frame of the imager and the reference frame of the INS. This innovation can automatically derive the camera-to-INS alignment using image data only. The assumption is that the camera fixates on an area while the aircraft flies on orbit. The system then, fully automatically, solves for the camera orientation in the INS frame. No manual intervention or ground tie point data is required.

Ansar, Adnan I.↗
NASA NTRS2002

Mosad and Stream Vision For A Telerobotic, Flying Camera System

Two full custom camera systems using the Multiplexed OverSample Analog to Digital (MOSAD) conversion technology for visible light sensing were built and demonstrated. They include a photo gate sensor and a photo diode sensor. The system includes the camera assembly, driver interface assembly, a frame stabler board with integrated decimeter and Windows 2000 compatible software for real time image display. An array size of 320X240 with 16 micron pixel pitch was developed for compatibility with 0.3 inch CCTV optics. With 1.2 micron technology, a 73% fill factor was achieved. Noise measurements indicated 9 to 11 bits operating with 13.7 bits best case. Power measured under 10 milliwatts at 400 samples per second. Nonuniformity variation was below noise floor. Pictures were taken with different cameras during the characterization study to demonstrate the operable range. The successful conclusion of this program demonstrates the utility of the MOSAD for NASA missions, providing superior performance over CMOS and lower cost and power consumption over CCD. The MOSAD approach also provides a path to radiation hardening for space based applications.

Mandl, William↗
NASA NTRS2001

Videogrammetric Model Deformation Measurement Technique

The theory, methods, and applications of the videogrammetric model deformation (VMD) measurement technique used at NASA for wind tunnel testing are presented. The VMD technique, based on non-topographic photogrammetry, can determine static and dynamic aeroelastic deformation and attitude of a wind-tunnel model. Hardware of the system includes a video-rate CCD camera, a computer with an image acquisition frame grabber board, illumination lights, and retroreflective or painted targets on a wind tunnel model. Custom software includes routines for image acquisition, target-tracking/identification, target centroid calculation, camera calibration, and deformation calculations. Applications of the VMD technique at five large NASA wind tunnels are discussed.

Burner, A. W.↗
NASA NTRS2010

Stereoscopic Machine-Vision System Using Projected Circles

A machine-vision system capable of detecting obstacles large enough to damage or trap a robotic vehicle is undergoing development. The system includes (1) a pattern generator that projects concentric circles of laser light forward onto the terrain, (2) a stereoscopic pair of cameras that are aimed forward to acquire images of the circles, (3) a frame grabber and digitizer for acquiring image data from the cameras, and (4) a single-board computer that processes the data. The system is being developed as a prototype of machine- vision systems to enable robotic vehicles ( rovers ) on remote planets to avoid craters, large rocks, and other terrain features that could capture or damage the vehicles. Potential terrestrial applications of systems like this one could include terrain mapping, collision avoidance, navigation of robotic vehicles, mining, and robotic rescue. This system is based partly on the same principles as those of a prior stereoscopic machine-vision system in which the cameras acquire images of a single stripe of laser light that is swept forward across the terrain. However, this system is designed to afford improvements over some of the undesirable features of the prior system, including the need for a pan-and-tilt mechanism to aim the laser to generate the swept stripe, ambiguities in interpretation of the single-stripe image, the time needed to sweep the stripe across the terrain and process the data from many images acquired during that time, and difficulty of calibration because of the narrowness of the stripe. In this system, the pattern generator does not contain any moving parts and need not be mounted on a pan-and-tilt mechanism: the pattern of concentric circles is projected steadily in the forward direction. The system calibrates itself by use of data acquired during projection of the concentric-circle pattern onto a known target representing flat ground. The calibration- target image data are stored in the computer memory for use as a template in processing terrain images. During operation on terrain, the images acquired by the left and right cameras are analyzed. The analysis includes (1) computation of the horizontal and vertical dimensions and the aspect ratios of rectangles that bound the circle images and (2) comparison of these aspect ratios with those of the template. Coordinates of distortions of the circles are used to identify and locate objects. If the analysis leads to identification of an object of significant size, then stereoscopicvision algorithms are used to estimate the distance to the object. The time taken in performing this analysis on a single pair of images acquired by the left and right cameras in this system is a fraction of the time taken in processing the many pairs of images acquired in a sweep of the laser stripe across the field of view in the prior system. The results of the analysis include data on sizes and shapes of, and distances and directions to, objects. Coordinates of objects are updated as the vehicle moves so that intelligent decisions regarding speed and direction can be made. The results of the analysis are utilized in a computational decision-making process that generates obstacle-avoidance data and feeds those data to the control system of the robotic vehicle.

Mackey, Jeffrey R.↗
NASA NTRS1986

Computer-aided analysis for the Mechanics of Granular Materials (MGM) experiment

The Mechanics of Granular Materials (MGM) program is planned to provide experimental determinations of the mechanics of granular materials under very low gravity conditions. The initial experiments will use small glass beads as the granular material, and a precise tracking of individual beads during the test is desired. Real-time video images of the experimental specimen were taken with a television camera, and subsequently digitized by a frame grabber installed in a microcomputer. Easily identified red tracer beads were randomly scattered throughout the test specimen. A set of Pascal programs was written for processing and analyzing the digitized images. Filtering the image with Laplacian, dilation, and blurring filters when using a threshold function produced a binary (black on white) image which clearly identified the red beads. The centroids and areas for each bead were then determined. Analyzing a series of the images determined individual red bead displacements throughout the experiment. The system can provide displacement accuracies on the order of 0.5 to 1 pixel is the image is taken directly from the video camera. Digitizing an image from a video cassette recorder introduces an additional repeatability error of 0.5 to 1 pixel. Other programs were written to provide hardcopy prints of the digitized images on a dot-matrix printer.

Parker, Joey K.↗
NASA NTRS1999

Tracker: Image-Processing and Object-Tracking System Developed

Tracker is an object-tracking and image-processing program designed and developed at the NASA Lewis Research Center to help with the analysis of images generated by microgravity combustion and fluid physics experiments. Experiments are often recorded on film or videotape for analysis later. Tracker automates the process of examining each frame of the recorded experiment, performing image-processing operations to bring out the desired detail, and recording the positions of the objects of interest. It can load sequences of images from disk files or acquire images (via a frame grabber) from film transports, videotape, laser disks, or a live camera. Tracker controls the image source to automatically advance to the next frame. It can employ a large array of image-processing operations to enhance the detail of the acquired images and can analyze an arbitrarily large number of objects simultaneously. Several different tracking algorithms are available, including conventional threshold and correlation-based techniques, and more esoteric procedures such as "snake" tracking and automated recognition of character data in the image. The Tracker software was written to be operated by researchers, thus every attempt was made to make the software as user friendly and self-explanatory as possible. Tracker is used by most of the microgravity combustion and fluid physics experiments performed by Lewis, and by visiting researchers. This includes experiments performed on the space shuttles, Mir, sounding rockets, zero-g research airplanes, drop towers, and ground-based laboratories. This software automates the analysis of the flame or liquid s physical parameters such as position, velocity, acceleration, size, shape, intensity characteristics, color, and centroid, as well as a number of other measurements. It can perform these operations on multiple objects simultaneously. Another key feature of Tracker is that it performs optical character recognition (OCR). This feature is useful in extracting numerical instrumentation data that are embedded in images. All the results are saved in files for further data reduction and graphing. There are currently three Tracking Systems (workstations) operating near the laboratories and offices of Lewis Microgravity Science Division researchers. These systems are used independently by students, scientists, and university-based principal investigators. The researchers bring their tapes or films to the workstation and perform the tracking analysis. The resultant data files generated by the tracking process can then be analyzed on the spot, although most of the time researchers prefer to transfer them via the network to their offices for further analysis or plotting. In addition, many researchers have installed Tracker on computers in their office for desktop analysis of digital image sequences, which can be digitized by the Tracking System or some other means. Tracker has not only provided a capability to efficiently and automatically analyze large volumes of data, saving many hours of tedious work, but has also provided new capabilities to extract valuable information and phenomena that was heretofore undetected and unexploited.

Klimek, Robert B.↗
NASA NTRS2004

Synchronization of video recording and laser pulses including background light suppression

An apparatus for and a method of triggering a pulsed light source, in particular a laser light source, for predictable capture of the source by video equipment. A frame synchronization signal is derived from the video signal of a camera to trigger the laser and position the resulting laser light pulse in the appropriate field of the video frame and during the opening of the electronic shutter, if such shutter is included in the camera. Positioning of the laser pulse in the proper video field allows, after recording, for the viewing of the laser light image with a video monitor using the pause mode on a standard cassette-type VCR. This invention also allows for fine positioning of the laser pulse to fall within the electronic shutter opening. For cameras with externally controllable electronic shutters, the invention provides for background light suppression by increasing shutter speed during the frame in which the laser light image is captured. This results in the laser light appearing in one frame in which the background scene is suppressed with the laser light being uneffected, while in all other frames, the shutter speed is slower, allowing for the normal recording of the background scene. This invention also allows for arbitrary (manual or external) triggering of the laser with full video synchronization and background light suppression.

Kalshoven, Jr., James E.↗
NASA NTRS2006

Range-Measuring Video Sensors

Optoelectronic sensors of a proposed type would perform the functions of both electronic cameras and triangulation- type laser range finders. That is to say, these sensors would both (1) generate ordinary video or snapshot digital images and (2) measure the distances to selected spots in the images. These sensors would be well suited to use on robots that are required to measure distances to targets in their work spaces. In addition, these sensors could be used for all the purposes for which electronic cameras have been used heretofore. The simplest sensor of this type, illustrated schematically in the upper part of the figure, would include a laser, an electronic camera (either video or snapshot), a frame-grabber/image-capturing circuit, an image-data-storage memory circuit, and an image-data processor. There would be no moving parts. The laser would be positioned at a lateral distance d to one side of the camera and would be aimed parallel to the optical axis of the camera. When the range of a target in the field of view of the camera was required, the laser would be turned on and an image of the target would be stored and preprocessed to locate the angle (a) between the optical axis and the line of sight to the centroid of the laser spot.

Howard, Richard T.↗
NASA NTRS1971

Apollo 11 photography 70-mm, 16-mm, and 35-mm index

A catalog of photographs taken during the Apollo 11 mission is presented. Photographs were taken with the Hasselblad 70 millimeter camera. Magazine N consists of 141 frames of color film. The major number of frames are of the translunar phase of the mission, with photographs of the earth, capsule interiors, and operational photographs. The last 28 frames of the magazine contain photographs of the lunar surface.

Source record↗
NASA NTRS1975

Study to develop improved spacecraft snow survey methods using Skylab/EREP data

The author has identified the following significant results. Of the four black and white S190A camera stations, snowcover is best defined in the two visible spectral bands, due in part to their better resolution. The overall extent of the snow can be mapped more precisely, and the snow within shadow areas is better defined in the visible bands. Of the two S190A color products, the aerial color photography is the better. Because of the contrast in color between snow and snow-free terrain and the better resolution, this product is concluded to be the best overall of the six camera stations for detecting and mapping snow. Overlapping frames permit stereo viewing, which aids in distinguishing clouds from the underlying snow. Because of the greater spatial resolution of the S190B earth terrain camera, areal snow extent can be mapped in greater detail than from the S190A photographs. The snow line elevation measured from the S190A and S190B photographs is reasonable compared to the meager ground truth data available.

Barnes, J. C.↗
NASA NTRS1978

Development of biostereometric experiments

The stereometric camera was designed for close-range techniques in biostereometrics. The camera focusing distance of 360 mm to infinity covers a broad field of close-range photogrammetry. The design provides for a separate unit for the lens system and interchangeable backs on the camera for the use of single frame film exposure, roll-type film cassettes, or glass plates. The system incorporates the use of a surface contrast optical projector.

Herron, R. E.↗
NASA NTRS1987

Engine flow visualization using a copper vapor laser

A flow visualization system has been developed to determine the air flow within the combustion chamber of a motored, axisymmetric engine. The engine has been equipped with a transparent quartz cylinder, allowing complete optical access to the chamber. A 40-Watt copper vapor laser is used as the light source. Its beam is focused down to a sheet approximately 1 mm thick. The light plane is passed through the combustion chamber, and illuminates oil particles which were entrained in the intake air. The light scattered off of the particles is recorded by a high speed rotating prism movie camera. A movie is then made showing the air flow within the combustion chamber for an entire four-stroke engine cycle. The system is synchronized so that a pulse generated by the camera triggers the laser's thyratron. The camera is run at 5,000 frames per second; the trigger drives one laser pulse per frame. This paper describes the optics used in the flow visualization system, the synchronization circuit, and presents results obtained from the movie. This is believed to be the first published study showing a planar observation of airflow in a four-stroke piston-cylinder assembly. These flow visualization results have been used to interpret flow velocity measurements previously obtained with a laser Doppler velocimetry system.

Regan, Carolyn A.↗