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All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Rover mast calibration, exact camera pointing, and camara handoff for visual target tracking

This paper presents three technical elements that we have developed to improve the accuracy of the visual target tracking for single-sol approach-and-instrument placement in future Mars rover missions. An accurate, straightforward method of rover mast calibration is achieved by using a total station, a camera calibration target, and four prism targets mounted on the rover. The method was applied to Rocky8 rover mast calibration and yielded a 1.1-pixel rms residual error. Camera pointing requires inverse kinematic solutions for mast pan and tilt angles such that the target image appears right at the center of the camera image. Two issues were raised. Mast camera frames are in general not parallel to the masthead base frame. Further, the optical axis of the camera model in general does not pass through the center of the image. Despite these issues, we managed to derive non-iterative closed-form exact solutions, which were verified with Matlab routines. Actual camera pointing experiments aver 50 random target image paints yielded less than 1.3-pixel rms pointing error. Finally, a purely geometric method for camera handoff using stereo views of the target has been developed. Experimental test runs show less than 2.5 pixels error on high-resolution Navcam for Pancam-to-Navcam handoff, and less than 4 pixels error on lower-resolution Hazcam for Navcam-to-Hazcam handoff.

camera handoff↗
NASA NTRS1989

Moments applied in the manual assembly of space structures - Ease biomechanics results from STS-61B

Measurements of the level and pattern of moments applied in the manual assembly of a space structure were made in extravehicular activity (EVA) and neutral buoyancy simulation (NBS). The Experimental Assembly of Structures in EVA program included the repeated assembly of a 3.6 m tetrahedral truss structure in EVA on STS-61B after extensive neutral buoyancy crew training. The flight and training structures were of equivalent mass and geometry to allow a direct correlation between EVA and NBS performance. A stereo photographic motion camera system was used to reconstruct in three dimensions rotational movements of structural beams during assembly. Moments applied in these manual handling tasks were calculated on the basis of the reconstructed movements taking into account effects of inertia, drag and virtual mass. Applied moments of 2.0 Nm were typical for beam rotations in EVA. Corresponding applied moments in NBS were typically up to five times greater. Moments were applied as impulses separated by several seconds of coasting in both EVA and NBS. Decelerating impulses were only infrequently observed in NBS.

Cousins, D.↗
NASA NTRS1992

A new method for astrometric observations of asteroids

In this paper we propose a new method for photographic astrometric observations of asteroids. We discuss its advantages and disadvantages and compare them to the advantages and disadvantages of the classical photographic methods. The new method is best suited for observations on a spot where no CCD cameras, blink or stereo comparators are available and when a fast detection of unknown objects is required.

Pauwels, Thierry↗
NASA NTRS2005

Deep Interior Mission: Imaging the Interior of Near-Earth Asteroids Using Radio Reflection Tomography

Near-Earth asteroids are important exploration targets since they provide clues to the evolution of the solar system. They are also of interest since they present a clear danger to Earth. Our mission objective is to image the internal structure of two NEOs using radio reflection tomography (RRT) in order to explore the record of asteroid origin and impact evolution, and to test the fundamental hypothesis that some NEOs are rubble piles rather than consolidated bodies. Our mission s RRT technique is analogous to doing a CAT scan of the asteroid from orbit. Closely sampled radar echoes are processed to yield volumetric maps of mechanical and compositional boundaries, and to measure interior material dielectric properties. The RRT instrument is a radar that operates at 5 and 15 MHz with two 30-m (tip-to-tip) dipole antennas that are used in a cross-dipole configuration. The radar transmitter and receiver electronics have heritage from JPL's MARSIS contribution to Mars Express, and the antenna is similar to systems used in IMAGE and LACE missions. The 5-MHz channel is designed to penetrate greater than 1 km of basaltic rock, and 15-MHz penetrates a few hundred meters or more. In addition to RRT volumetric imaging, we use redundant color cameras to explore the surface expressions of unit boundaries, in order to relate interior radar imaging to what is observable from spacecraft imaging and from Earth. The camera also yields stereo color imaging for geology and RRT-related compositional analysis. Gravity and high fidelity geodesy are used to explore how interior structure is expressed in shape, density, mass distribution and spin. Ion thruster propulsion is utilized by Deep Interior to enable tomographic radar mapping of multiple asteroids. Within the Discovery AO scheduling parameters we identify two targets, S-type 1999 ND43 (approximately 500 m diameter) and V-type 3908 Nyx (approximately 1 km), asteroids whose compositions bracket the diversity of solar system materials that we are likely to encounter, from undifferentiated to highly evolved. The 5-15 MHz radar is capable of probing more primitive bodies (e.g. comets or C-types) that may be available given other launch schedules. 5 MHz radar easily penetrates, with the required SNR , greater than 1 km of basalt (a good analog for Nyx). Basalt has a greater loss tangent than expected for most asteroids, although iron-rich M-types are probably not appropriate targets. 15 MHz radar penetrates the outer approximately 100 m of rocky 1 km asteroids and the deep interiors of comets. Laboratory studies of the most common NE0 materials expected (S-, C- and V-type meteorite analogs) will commence in 2005.

Safaeinili, A.↗
NASA NTRS2013

Evaluation of Model Microphysics Within Precipitation Bands of Extratropical Cyclones

Recent studies evaluating the bulk microphysical schemes (BMPs) within cloud resolving models (CRMs) have indicated large uncertainties and errors in the amount and size distributions of snow and cloud ice aloft. The snow prediction is sensitive to the snow densities, habits, and degree of riming within the BMPs. Improving these BMPs is a crucial step toward improving both weather forecasting and climate predictions. Several microphysical schemes in the Weather Research and Forecasting (WRF) model down to 1.33‐km grid spacing are evaluated using aircraft, radar, and ground in situ data from the Global Precipitation Mission Coldseason Precipitation Experiment (GCPEx) experiment, as well as a few years (15 winter storms) of surface measurements of riming, crystal habit, snow density, and radar measurements at Stony Brook, NY (SBNY on north shore of Long Island) during the 2009-2012 winter seasons. Surface microphysical measurements at SBNY were taken every 15 to 30 minutes using a stereo microscope and camera, and snow depth and snow density were also recorded. During these storms, a vertically-pointing Ku-band radar was used to observe the vertical evolution of reflectivity and Doppler vertical velocities. A Particle Size and Velocity (PARSIVEL) disdrometer was also used to measure the surface size distribution and fall speeds of snow at SBNY. For the 15 cases at SBNY, the WSM6, Morrison (MORR), Thompson (THOM2), and Stony Brook (SBU-YLIN) BMPs were validated. A non-spherical snow assumption (THOM2 and SBU-YLIN) simulated a more realistic distribution of reflectivity than spherical snow assumptions in the WSM6 and MORR schemes. The MORR, WSM6, and SBU-YLIN schemes are comparable to the observed velocity distribution in light and moderate riming periods. The THOM2 is ~0.25 meters per second too slow with its velocity distribution in these periods. In heavier riming, the vertical Doppler velocities in the WSM6, THOM2, and MORR schemes were ~0.25 meters per second too slow, while the SBU-YLIN was 0.25 to 0.5 meters per second too fast. Overall, the BMPs simulate a size distribution close to the observed for D < 4 mm in the dendritic, plates, and mixed habit periods. The model BMPs underestimate the size distribution when large aggregates were observed. For D > 6 mm in the dendrites, side planes, and mixed habit periods, the BMPs are likely not simulating enough aggregation to create a larger size distribution, although the MORR (double moment) scheme seemed to perform best. These SBNY results will be compared with some results from GCPEx for a warm frontal snow band observed at 18 February 2012.

Colle, Brian A.↗
NASA NTRS2013

Evaluation of Model Microphysics within Precipitation Bands of Extratropical Cyclones

Recent studies evaluating the bulk microphysical schemes (BMPs) within cloud resolving models (CRMs) have indicated large uncertainties and errors in the amount and size distributions of snow and cloud ice aloft. The snow prediction is sensitive to the snow densities, habits, and degree of riming within the BMPs. Improving these BMPs is a crucial step toward improving both weather forecasting and climate predictions. Several microphysical schemes in the Weather Research and Forecasting (WRF) model down to 1.33‐km grid spacing are evaluated using aircraft, radar, and ground in situ data from the Global Precipitation Mission Coldseason Precipitation Experiment (GCPEx) experiment, as well as a few years (15 winter storms) of surface measurements of riming, crystal habit, snow density, and radar measurements at Stony Brook, NY (SBNY on north shore of Long Island) during the 2009-2012 winter seasons. Surface microphysical measurements at SBNY were taken every 15 to 30 minutes using a stereo microscope and camera, and snow depth and snow density were also recorded. During these storms, a vertically-pointing Ku-band radar was used to observe the vertical evolution of reflectivity and Doppler vertical velocities. A Particle Size and Velocity (PARSIVEL) disdrometer was also used to measure the surface size distribution and fall speeds of snow at SBNY. For the 15 cases at SBNY, the WSM6, Morrison (MORR), Thompson (THOM2), and Stony Brook (SBU-YLIN) BMPs were validated. A non-spherical snow assumption (THOM2 and SBU-YLIN) simulated a more realistic distribution of reflectivity than spherical snow assumptions in the WSM6 and MORR schemes. The MORR, WSM6, and SBU-YLIN schemes are comparable to the observed velocity distribution in light and moderate riming periods. The THOM2 is approx 0.25 m/s too slow with its velocity distribution in these periods. In heavier riming, the vertical Doppler velocities in the WSM6, THOM2, and MORR schemes were approx 0.25 m/s too slow, while the SBU-YLIN was 0.25 to 0.5 m/s too fast. Overall, the BMPs simulate a size distribution close to the observed for D < 4 mm in the dendritic, plates, and mixed habit periods. The model BMPs underestimate the size distribution when large aggregates were observed. For D > 6 mm in the dendrites, side planes, and mixed habit periods, the BMPs are likely not simulating enough aggregation to create a larger size distribution, although the MORR (double moment) scheme seemed to perform best. These SBNY results will be compared with some results from GCPEx for a warm frontal snow band observed at 18 February 2012.

Colle, Brian A.↗
NASA NTRS2014

Evaluation of Mixed-Phase Microphysics Within Winter Storms Using Field Data and In Situ Observations

Snow prediction within models is sensitive to the snow densities, habits, and degree of riming within the BMPs. Improving these BMPs is a crucial step toward improving both weather forecasting and climate predictions. Several microphysical schemes in the Weather Research and Forecasting (WRF) model down to 1.33-km grid spacing are evaluated using aircraft, radar, and ground in situ data from the Global Precipitation Mission Cold-season Precipitation Experiment (GCPEx) experiment over southern Ontario, as well as a few years (12 winter storms) of surface measurements of riming, crystal habit, snow density, and radar measurements at Stony Brook, NY (SBNY on north shore of Long Island) during the 2009-2012 winter seasons. Surface microphysical measurements at SBNY were taken every 15 to 30 minutes using a stereo microscope and camera, and snow depth and snow density were also recorded. During these storms, a vertically-pointing Ku band radar was used to observe the vertical evolution of reflectivity and Doppler vertical velocities. The GCPex presentation will focus on verification using aircraft spirals through warm frontal snow band event on 18 February 2012. All the BMPs realistically simulated the structure of the band and the vertical distribution of snow/ice aloft, except the SBU-YLIN overpredicted slightly and Thompson (THOM) underpredicted somewhat. The Morrison (MORR) scheme produced the best slope size distribution for snow, while the Stony Brook (SBU) underpredicted and the THOM slightly overpredicted. Those schemes that have the slope intercept a function of temperature (SBU and WSM6) tended to perform better for that parameter than others, especially the fixed intercept in Goddard. Overall, the spread among BMPs was smaller than in other studies, likely because there was limited riming with the band. For the 15 cases at SBNY, which include moderate and heavy riming events, the non-spherical snow assumption (THOM and SBU-YLIN) simulated a more realistic distribution of reflectivity than spherical snow assumptions in the WSM6 and MORR schemes. The MORR, WSM6, and SBU schemes are comparable to the observed velocity distribution in light and moderate riming periods. The THOM is approx. 0.25 m/s too slow with its velocity distribution in these periods. In heavier riming, the vertical Doppler velocities in the WSM6, THOM, and MORR schemes were approx. 0.25 m/s too slow, while the SBU was 0.25 to 0.5 m/s too fast because of some excessive cloud water issues.

Colle, Brian A.↗
NASA NTRSDate not supplied

Viper Science Operations: Science Traverse Planning Perspectives, Processes, and Tools.

Introduction: The NASA Volatiles Investigating Polar Exploration Rover (VIPER) launchesin late 2024 towards a landing site on Mons Mouton in the Nobile region of the Lunar South Pole (LSP). As described in other LPSC presentations [1,2,3], the primary objective of the VIPER mission is to study the composition and distribution of hydrogen-bearing and other volatiles by way of a complementary suite of payloads that the rover will carry to the Moon: three “prospecting” instruments which operate continuously while roving - the Neutron Spectrometer System (NSS), the Near InfraRed Volatiles Spectrometer System (NIRVSS), and the Mass Spectrometer observing lunar operations (MSolo). A 1-meter auguring/percussive drill called the The Regolith and Ice Drill for Exploration of New Terrains (TRIDENT) is used to bring subsurface cuttings to the surface in 10-cm increments where they are interrogated by NIRVSS and MSolo. The Visible Imaging System is comprised of eight cameras (the NavCam stereo pair mounted on the mast gimbal, the AftCam stereo pair mounted on the aft panel, and four HazCams mounted in the wheel wells) that capture grayscale visible wavelength images of the lunar environment and the rover’s upper deck. The VIPER mobility system is a four-wheel design that includes the following motorized modules: Suspension, Steering, and Drive/Propulsion. Wheel odometry and applied torque — combined with position data from rover imagery — can be used to compute assessments of ‘slip and sinkage’. Slope estimates can be computed from stereo rover imagery, as well as pitch and roll data from the IMU (Inertial Measurement Unit) and Star Tracker telemetry.

Darlene Sze Shien Lim↗
DOE OSTI2013

Intrinsic Feature Motion Tracking

Subject motion during 3D medical scanning can cause blurring and artifacts in the 3D images resulting in either rescans or poor diagnosis. Anesthesia or physical restraints may be used to eliminate motion but are undesirable and can affect results. This software measures the six degree of freedom 3D motion of the subject during the scan under a rigidity assumption using only the intrinsic features present on the subject area being monitored. This movement over time can then be used to correct the scan data removing the blur and artifacts. The software acquires images from external cameras or images stored on disk for processing. The images are from two or three calibrated cameras in a stereo arrangement. Algorithms extract and track the features over time and calculate position and orientation changes relative to an initial position. Output is the 3D position and orientation change measured at each image.

Goddard, Jr., James S.↗
DOE OSTI2016

Patient positioning in radiotherapy based on surface imaging using time of flight cameras

Purpose: To evaluate the patient positioning accuracy in radiotherapy using a stereo-time of flight (ToF)-camera system. Methods: A system using two ToF cameras was used to scan the surface of the patients in order to position them daily on the treatment couch. The obtained point clouds were registered to (a) detect translations applied to the table (intrafraction motion) and (b) predict the displacement to be applied in order to place the patient in its reference position (interfraction motion). The measures provided by this system were compared to the effectively applied translations. The authors analyzed 150 fractions including lung, pelvis/prostate, and head and neck cancer patients. Results: The authors obtained small absolute errors for displacement detection: 0.8 ± 0.7, 0.8 ± 0.7, and 0.7 ± 0.6 mm along the vertical, longitudinal, and lateral axes, respectively, and 0.8 ± 0.7 mm for the total norm displacement. Lung cancer patients presented the largest errors with a respective mean of 1.1 ± 0.9, 0.9 ± 0.9, and 0.8 ± 0.7 mm. Conclusions: The proposed stereo-ToF system allows for sufficient accuracy and faster patient repositioning in radiotherapy. Its capability to track the complete patient surface in real time could allow, in the future, not only for an accurate positioning but also a real time tracking of any patient intrafraction motion (translation, involuntary, and breathing).

60 APPLIED LIFE SCIENCES↗
NASA NTRS1996

Stereo viewing 3-component, planar PIV utilizing fuzzy inference

An all electronic 3-D Digital Particle Image Velocimetry (DPIV) system has been developed for use in high velocity (supersonic) flows. Two high resolution CCD cameras mounted in a stereo viewing configuration are used to determine the out-of-plane velocity component from the difference of the in-plane velocity measurements. Double exposure image frames are acquired and Fuzzy inference techniques are used to maximize the validity of the velocity estimates obtained from the auto-correlation analysis. The CCD cameras are tilted relative to their respective lens axes to satisfy Scheimpflug's condition. Tilting the camera film plane ensures that the entire image plane is in focus. Perspective distortion still results, but can be corrected by proper calibration of the optical system. A calibration fixture is used to determine the experimental setup parameters and to assess the accuracy to which the z-plane displacements can be estimated. The details of the calibration fixture and procedure are discussed in the text. A pair of pulsed Nd:YAG lasers operating at 532 nm are used to illuminate the seeded flow from a convergent nozzle operated in an underexpanded condition. The light sheet was oriented perpendicular to the nozzle flow, yielding planar cross-sections of the 3-component velocity field at several axial stations. The key features of the supersonic jet are readily observed in the cross-plane vector plots.

Wernet, Mark P.↗
NASA NTRS1989

Development of a stereo 3-D pictorial primary flight display

Computer-generated displays are becoming increasingly popular in aerospace applications. The use of stereo 3-D technology provides an opportunity to present depth perceptions which otherwise might be lacking. In addition, the third dimension could also be used as an additional dimension along which information can be encoded. Historically, the stereo 3-D displays have been used in entertainment, in experimental facilities, and in the handling of hazardous waste. In the last example, the source of the stereo images generally has been remotely controlled television camera pairs. The development of a stereo 3-D pictorial primary flight display used in a flight simulation environment is described. The applicability of stereo 3-D displays for aerospace crew stations to meet the anticipated needs for 2000 to 2020 time frame is investigated. Although, the actual equipment that could be used in an aerospace vehicle is not currently available, the lab research is necessary to determine where stereo 3-D enhances the display of information and how the displays should be formatted.

Nataupsky, Mark↗
DOE OSTI2016

A Synchronized Sensor Array for Remote Monitoring of Avian and Bat Interactions with Offshore Renewable Energy Facilities

Wind energy production in the U.S. is projected to increase to 35% of our nation’s energy by 2050. This substantial increase in the U.S. is only a portion of the global wind industry growth, as many countries strive to reduce greenhouse gas emissions. A major environmental concern and potential market barrier for expansion of wind energy is bird and bat mortality from impacts with turbine blades, towers, and nacelles. Carcass surveys are the standard protocol for quantifying mortality at onshore sites. This method is imperfect, however, due to survey frequency at remote sites, removal of carcasses by scavengers between surveys, searcher efficiency, and other biases as well as delays of days to weeks or more in obtaining information on collision events. Furthermore, carcass surveys are not feasible at offshore wind energy sites. Near-real-time detection and quantification of interaction rates is possible at both onshore and offshore wind facilities using an onboard, integrated sensor package with data transmitted to central processing centers. We developed and experimentally tested an array of sensors that continuously monitors for interactions (including impacts) of birds and bats with wind turbines. The synchronized array includes three sensor nodes: (1) vibration (accelerometers and contact microphones), (2) optical (visual and infrared spectrum cameras), and (3) bioacoustics (acoustic and ultrasonic microphones). Accelerometers and contact acoustic microphones are placed at the root of each blade to detect impact vibrations and sound waves propagating through the structure. On-board data processing algorithms using wavelet analysis detect impact signals exceeding background vibration. Stereo-visual and infrared cameras were placed on the nacelle to allow target tracking, distance, and size calculations. On-board image processing and target detection algorithms identify moving targets within the camera field of view. Bioacoustic recorders monitor vocalizations and echolocations to aid in identifying organisms involved in interactions. Data from all sensors are temporarily stored in ring (i.e., circular) buffers with a duration varying by sensor type. Detection of target presence or impact by any of the sensors can trigger the archiving of data from all buffers for transmission to a central data processing center for evaluation and post-processing. This mitigates the risk of “data mortgages” posed by continual recording and minimizes personnel time required to manually review event data. We first conducted individual component tests at laboratories and field sites in Corvallis and Newport, Oregon, and Seattle and Sequim, Washington. We conducted additional component tests on research wind turbines at the North American Wind Research and Training Center, Mesalands Community College (MCC; General Electric 1.5 MW turbine), New Mexico, and the National Wind Technology Center, National Renewable Energy Laboratory (NREL; Controls Advanced Research Turbines 3 [CART 3] 600 kW Westinghouse turbine), Colorado. We conducted fully integrated system tests at NREL in October 2014 and April 2015. We used only research wind turbines so that we could conduct controlled, experimentally generated impacts using empty and water-filled tennis balls shot from a compressed air cannon on the ground. The approx. 57-140 g tennis balls (depending on water content) were at the upper mass range for bats, but lower mass range for marine birds. Therefore, the ability to detect collisions of most seabirds is likely greater than our experiments demonstrate, but possibly lower for some bats depending on the background signal of a given turbine. Vibration data demonstrated that background signals of operating turbines varied markedly among the CART 3 under normal operation (greatest), GE (moderate), and CART 3 during idle rotation (generator not engaged; least). In total, we measured 63 experimental blade impacts on the two research turbines. Impaction detection was dependent on background signals, position of impact on the blade (a tip strike resulted in the strongest impact signal), and impact kinetics (velocity of ball and whether the ball struck the surface of the blade or the leading edge of the blade struck the ball). Overall detection percentage ranged from 100% for the “quietest” conditions (CART 3 idle rotation), down to 35% for the noisiest (CART 3 normal operation). Impact signals were detected from sensors on more than one blade (i.e., blades other than the blade struck) 50% - 75% of the time. Stereo imaging provided valuable metrics, but increased data processing and equipment cost. Given the cost of cameras with sufficient resolution for target identification, we suggest mounting cameras directly on the blades to continuously view the entire rotor swept area with the fewest number of cameras. Bioacoustic microphones provide taxonomic identification, as well as information on ambient noise levels. They also assist in identifying environmental conditions such as hail storms, high winds, thunder, lightning, etc., that may contribute to a collision or a false positive detection. We demonstrated a proof of concept for an integrated sensor array to detect and identify bird and bat collisions with wind turbines. The next phase of research and development for this system will miniaturize and integrate sensors from all three nodes into a single wireless package that can be attached directly to the blade. This next generation system would use all “smart” sensors capable of onboard data processing to drastically reduce data streams and processing time on a central computer. A provisional patent for the blade mounted system was submitted by Oregon State University and recorded by the U.S. Patent and Trademark Office (application no. 62313028). Eventually, technology and industry advances will allow this low cost monitoring system to be designed into materials during manufacturing so that all turbines could be monitored with either a subset or full suite of sensors. As standard equipment on all commercial turbines, the sensor suite would allow the industry to effectively monitor whether individual turbines were causing mortalities or not and under what circumstances. It would also provide real-time evaluation of mechanical and structural integrity of a turbine via vibration, image, and acoustic data streams, thereby permitting modifications in operation to limit environmental or mechanical damage.

17 WIND ENERGY↗
DOE OSTI2014

SU-E-J-184: Stereo Time-Of-Flight System for Patient Positioning in Radiotherapy

Purpose: The objective of this work is to test the advantage of using the surface acquired by two stereo Time-of-Flight (ToF) cameras in comparison of the use of one camera only for patient positioning in radiotherapy. Methods: A first step consisted on validating the use of a stereo ToFcamera system for positioning management of a phantom mounted on a linear actuator producing very accurate and repeatable displacements. The displacements between two positions were computed from the surface point cloud acquired by either one or two cameras thanks to an iterative closest point algorithm. A second step consisted on determining the displacements on patient datasets, with two cameras fixed on the ceiling of the radiotherapy room. Measurements were done first on voluntary subject with fixed translations, then on patients during the normal clinical radiotherapy routine. Results: The phantom tests showed a major improvement in lateral and depth axis for motions above 10 mm when using the stereo-system instead of a unique camera (Fig1). Patient measurements validate these results with a mean real and measured displacement differences in the depth direction of 1.5 mm when using one camera and 0.9 mm when using two cameras (Fig2). In the lateral direction, a mean difference of 1 mm was obtained by the stereo-system instead of 3.2 mm. Along the longitudinal axis mean differences of 5.4 and 3.4 mm with one and two cameras respectively were noticed but these measurements were still inaccurate and globally underestimated in this direction as in the literature. Similar results were also found for patient subjects with a mean difference reduction of 35%, 7%, and 25% for the lateral, depth, and longitudinal displacement with the stereo-system. Conclusion: The addition of a second ToF-camera to determine patient displacement strongly improved patient repositioning results and therefore insures better radiation delivery.

60 APPLIED LIFE SCIENCES↗
NASA NTRS2010

Mars Terrain Generation

A suite of programs for the generation of disparity maps from stereo image pairs via correlation, and conversion of those disparity maps to XYZ maps, has been updated. This suite implements an automated method of deriving terrain from stereo images for use in the ground data system for in-situ (lander and rover) cameras. This differs from onboard correlation by concentrating more on accuracy than speed, since near-real-time is not a requirement on the ground. The final result is an XYZ value for every point in the image that passes several quality checks. A priori geometric camera calibration information is required for this suite to operate. The suite is very flexible, enabling its use in many special situations, such as non-linearized images required for applications like the Phoenix arm camera, or long-baseline stereo, where the rover moves between left and right images.

Deen, Robert G.↗
NASA NTRS1989

Television monitor field shifter and an opto-electronic method for obtaining a stereo image of optimal depth resolution and reduced depth distortion on a single screen

A method and apparatus for obtaining a stereo image with reduced depth distortion and optimum depth resolution. Static and dynamic depth distortion and depth resolution trade-off is provided. Cameras obtaining the images for a stereo view are converged at a convergence point behind the object to be presented in the image, and (a) the collection-surface-to-object distance, (b) the camera separation distance, and (c) the focal lengths of zoom lenses for the camera are all increased. Doubling the distances cuts the static depth distortion in half while maintaining image size and depth resolution. Dynamic depth distortion is minimized by panning a stereo view-collecting camera system about a circle which passes through the convergence point and the cameras' first nodal points. Horizontal field shifting of the television fields on a television monitor brings both the monitor and the stereo views within the viewer's limit of binocular fusion.

Daniel B Diner↗
NASA NTRS1974

Feasibility of remote evaporation and precipitation estimates

Remote sensing by means of stereo images obtained from flown cameras and scanners provides the potential to monitor the dynamics of pollutant mixing over large areas. Moreover, stereo technology may permit monitoring of pollutant concentration and mixing with sufficient detail to ascertain the structure of a polluted air mass. Consequently, stereo remote systems can be employed to supply data to set forth adequate regional standards on air quality. A method of remote sensing using stereo images is described. Preliminary results concerning the planar extent of a plume based on comparison with ground measurements by an alternate method, e.g., remote hot-wire anemometer technique, are supporting the feasibility of using stereo remote sensing systems.

Sadeh, W. Z.↗