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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

The derivation of a sub-canopy digital terrain model of a flooded forest using synthetic aperture radar

Synthetic aperture radar data from the Shuttle Imaging Radar-B Mission were combined with the tide surface information to create a digital terrain model for a 70-km by 40-km section of the Mouths of the Ganges forests in southern Bangladesh. The dominance of the interaction phenomenon (canopy to surface or surface to canopy reflection) in flooded forests was exploited to create sub-canopy flood boundary maps for two different tide times. The boundary maps were digitally combined in x, y, z space with tide elevation models created from tide gauge data gridding the survey site and used as input to interpolation routines to create a terrain model. The end product represents a significant step in our ability to characterize the topography and hydrology of wetland ecosystems. The model derived here can be used for simulating tidal flow and nutrient transport from the forest to the marine habitat.

Imhoff, Marc Lee↗
NASA NTRS1980

Landsat analysis of tropical forest succession employing a terrain model

Landsat multispectral scanner (MSS) data have yielded a dual classification of rain forest and shadow in an analysis of a semi-deciduous forest on Mindonoro Island, Philippines. Both a spatial terrain model, using a fifth side polynomial trend surface analysis for quantitatively estimating the general spatial variation in the data set, and a spectral terrain model, based on the MSS data, have been set up. A discriminant analysis, using both sets of data, has suggested that shadowing effects may be due primarily to local variations in the spectral regions and can therefore be compensated for through the decomposition of the spatial variation in both elevation and MSS data.

Barringer, T. H.↗
NASA NTRS1988

The derivation of sub-canopy surface terrain models of coastal forests using synthetic aperture radar

Radar data acquired by the Shuttle Imaging Radar-B mission covering a portion of the Mouths of the Ganges forests were used to create a terrain model for use in determining tidal flow and eventual nutrient transport from the forest to the marine habitat. Results show that good digital topographic terrain models of wet coastal forests can be generated using multiple sets of L-band SAR and ancillary tide elevation data. The dominance of the interaction phenomenon in the radar backscatter of flooded forests can be used to create sub-canopy inundation maps which when merged with tide surface data can be used to generate reasonable topographic models. Ideally models could be improved by using multiple sets of data at a constant incidence angle over the total tide range. The optimal angle for the SAR depends upon the characteristics of the forest. The range of 46 to 57 deg seems applicable to the 12.5 m tall closed canopy in this example. Such models can be an extremely valuable tool for studying and mapping the mangal ecosystem.

Imhoff, M. L.↗
NASA NTRS1989

Image-based terrain modeling with thematic mapper applied to resolving the limit of Holocene Lake expansion in the Great Salt Lake Desert, Utah, part 1

The LANDSAT Thematic Mapper (TM) scanner records reflected solar energy from the earth's surface in six wavelength regions, or bands, and one band that records emitted energy in the thermal region, giving a total of seven bands. Useful research was extracted about terrain morphometry from remote sensing measurements and this information is used in an image-based terrain model for selected coastal geomorphic features in the Great Salt Lake Desert (GSLD). Technical developments include the incorporation of Aerial Profiling of Terrain System (APTS) data in satellite image analysis, and the production and use of 3-D surface plots of TM reflectance data. Also included in the technical developments is the analysis of the ground control point spatial distribution and its affects on geometric correction, and the terrain mapping procedure; using satellite data in a way that eliminates the need to degrade the data by resampling. The most common approach for terrain mapping with multispectral scanner data includes the techniques of pattern recognition and image classification, as opposed to direct measurement of radiance for identification of terrain features. The research approach in this investigation was based on an understanding of the characteristics of reflected light resulting from the variations in moisture and geometry related to terrain as described by the physical laws of radiative transfer. The image-based terrain model provides quantitative information about the terrain morphometry based on the physical relationship between TM data, the physical character of the GSLD, and the APTS measurements.

Merola, John A.↗
NASA NTRS1988

Parallel algorithms for interactive manipulation of digital terrain models

Interactive three-dimensional graphics applications, such as terrain data representation and manipulation, require extensive arithmetic processing. Massively parallel machines are attractive for this application since they offer high computational rates, and grid connected architectures provide a natural mapping for grid based terrain models. Presented here are algorithms for data movement on the massive parallel processor (MPP) in support of pan and zoom functions over large data grids. It is an extension of earlier work that demonstrated real-time performance of graphics functions on grids that were equal in size to the physical dimensions of the MPP. When the dimensions of a data grid exceed the processing array size, data is packed in the array memory. Windows of the total data grid are interactively selected for processing. Movement of packed data is needed to distribute items across the array for efficient parallel processing. Execution time for data movement was found to exceed that for arithmetic aspects of graphics functions. Performance figures are given for routines written in MPP Pascal.

Davis, E. W.↗
NASA NTRS2007

Path Loss Prediction Over the Lunar Surface Utilizing a Modified Longley-Rice Irregular Terrain Model

This study introduces the use of a modified Longley-Rice irregular terrain model and digital elevation data representative of an analogue lunar site for the prediction of RF path loss over the lunar surface. The results are validated by theoretical models and past Apollo studies. The model is used to approximate the path loss deviation from theoretical attenuation over a reflecting sphere. Analysis of the simulation results provides statistics on the fade depths for frequencies of interest, and correspondingly a method for determining the maximum range of communications for various coverage confidence intervals. Communication system engineers and mission planners are provided a link margin and path loss policy for communication frequencies of interest.

Foore, Larry↗
NASA NTRS1987

An application of the MPP to the interactive manipulation of stereo images of digital terrain models

Massively Parallel Processor algorithms were developed for the interactive manipulation of flat shaded digital terrain models defined over grids. The emphasis is on real time manipulation of stereo images. Standard graphics transformations are applied to a 128 x 128 grid of elevations followed by shading and a perspective projection to produce the right eye image. The surface is then rendered using a simple painter's algorithm for hidden surface removal. The left eye image is produced by rotating the surface 6 degs about the viewer's y axis followed by a perspective projection and rendering of the image as described above. The left and right eye images are then presented on a graphics device using standard stereo technology. Performance evaluations and comparisons are presented.

Pol, Sanjay↗
NASA NTRS2003

Terrain Model Registration for Single Cycle Instrument Placement

This paper presents an efficient and robust method for registration of terrain models created using stereo vision on a planetary rover. Our approach projects two surface models into a virtual depth map, rendering the models as they would be seen from a single range sensor. Correspondence is established based on which points project to the same location in the virtual range sensor. A robust norm of the deviations in observed depth is used as the objective function, and the algorithm searches for the rigid transformation which minimizes the norm. An initial coarse search is done using rover pose information from odometry and orientation sensing. A fine search is done using Levenberg-Marquardt. Our method enables a planetary rover to keep track of designated science targets as it moves, and to hand off targets from one set of stereo cameras to another. These capabilities are essential for the rover to autonomously approach a science target and place an instrument in contact in a single command cycle.

Deans, Matthew↗
NASA NTRS2013

Co-registration of Laser Altimeter Tracks with Digital Terrain Models and Applications in Planetary Science

We have derived algorithms and techniques to precisely co-register laser altimeter profiles with gridded Digital Terrain Models (DTMs), typically derived from stereo images. The algorithm consists of an initial grid search followed by a least-squares matching and yields the translation parameters at sub-pixel level needed to align the DTM and the laser profiles in 3D space. This software tool was primarily developed and tested for co-registration of laser profiles from the Lunar Orbiter Laser Altimeter (LOLA) with DTMs derived from the Lunar Reconnaissance Orbiter (LRO) Narrow Angle Camera (NAC) stereo images. Data sets can be co-registered with positional accuracy between 0.13 m and several meters depending on the pixel resolution and amount of laser shots, where rough surfaces typically result in more accurate co-registrations. Residual heights of the data sets are as small as 0.18 m. The software can be used to identify instrument misalignment, orbit errors, pointing jitter, or problems associated with reference frames being used. Also, assessments of DTM effective resolutions can be obtained. From the correct position between the two data sets, comparisons of surface morphology and roughness can be made at laser footprint- or DTM pixel-level. The precise co-registration allows us to carry out joint analysis of the data sets and ultimately to derive merged high-quality data products. Examples of matching other planetary data sets, like LOLA with LRO Wide Angle Camera (WAC) DTMs or Mars Orbiter Laser Altimeter (MOLA) with stereo models from the High Resolution Stereo Camera (HRSC) as well as Mercury Laser Altimeter (MLA) with Mercury Dual Imaging System (MDIS) are shown to demonstrate the broad science applications of the software tool.

Laser↗
NASA NTRS2010

Creation of High Resolution Terrain Models of Barringer Meteorite Crater (Meteor Crater) Using Photogrammetry and Terrestrial Laser Scanning Methods

Barringer Meteorite Crater or Meteor Crater, AZ, has been a site of high interest for lunar and Mars analog crater and terrain studies since the early days of the Apollo-Saturn program. It continues to be a site of exceptional interest to lunar, Mars, and other planetary crater and impact analog studies because of its relatively young age (est. 50 thousand years) and well-preserved structure. High resolution (2 meter to 1 decimeter) digital terrain models of Meteor Crater in whole or in part were created at NASA Stennis Space Center to support several lunar surface analog modeling activities using photogrammetric and ground based laser scanning techniques. The dataset created by this activity provides new and highly accurate 3D models of the inside slope of the crater as well as the downslope rock distribution of the western ejecta field. The data are presented to the science community for possible use in furthering studies of Meteor Crater and impact craters in general as well as its current near term lunar exploration use in providing a beneficial test model for lunar surface analog modeling and surface operation studies.

Brown, Richard B.↗
NASA NTRS1975

Measurement scanning schemes for terrain modeling

A scanning scheme for the laser rangefinder aboard an autonomous Mars Rover is developed. The rover is expected to be able to traverse an incline of slope up to 25% deg positive or negative. The total azimuth angle of the rangefinder is calculated so that the rangefinder can scan a width of 3 m at a distance of 3 m. A combination of two approaches is considered: scanning the field with a data point spacing appropriate for the terrain modeling technique, followed by zoom scanning with reduced spacing aimed at an obstacle location indicated in a previous terrain scan. It is found that the scan time and total number of data points can be reduced by dividing the field into corridors. The scan is divided into two subscans: the initial scan covering the entire field, and a corridor scan. The corridor scan method reduces the core required in the on-board computer. Hardware changes are expected to be small since the parameters of the corridor are fixed and a continuously variable point spacing is not necessary.

Friedman, M.↗
NASA NTRS2005

Photo-realistic Terrain Modeling and Visualization for Mars Exploration Rover Science Operations

Modern NASA planetary exploration missions employ complex systems of hardware and software managed by large teams of. engineers and scientists in order to study remote environments. The most complex and successful of these recent projects is the Mars Exploration Rover mission. The Computational Sciences Division at NASA Ames Research Center delivered a 30 visualization program, Viz, to the MER mission that provides an immersive, interactive environment for science analysis of the remote planetary surface. In addition, Ames provided the Athena Science Team with high-quality terrain reconstructions generated with the Ames Stereo-pipeline. The on-site support team for these software systems responded to unanticipated opportunities to generate 30 terrain models during the primary MER mission. This paper describes Viz, the Stereo-pipeline, and the experiences of the on-site team supporting the scientists at JPL during the primary MER mission.

Edwards, Laurence↗
NASA NTRS2011

Large Terrain Modeling and Visualization for Planets

Physics-based simulations are actively used in the design, testing, and operations phases of surface and near-surface planetary space missions. One of the challenges in realtime simulations is the ability to handle large multi-resolution terrain data sets within models as well as for visualization. In this paper, we describe special techniques that we have developed for visualization, paging, and data storage for dealing with these large data sets. The visualization technique uses a real-time GPU-based continuous level-of-detail technique that delivers multiple frames a second performance even for planetary scale terrain model sizes.

digital elevation map↗
NASA NTRS1991

Terrain modeling for microwave landing system

A powerful analytical approach for evaluating the terrain effects on a microwave landing system (MLS) is presented. The approach combines a multiplate model with a powerful and exhaustive ray tracing technique and an accurate formulation for estimating the electromagnetic fields due to the antenna array in the presence of terrain. Both uniform theory of diffraction (UTD) and impedance UTD techniques have been employed to evaluate these fields. Innovative techniques are introduced at each stage to make the model versatile to handle most general terrain contours and also to reduce the computational requirement to a minimum. The model is applied to several terrain geometries, and the results are discussed.

Poulose, M. M.↗
NASA NTRS2011

Orthographic Stereo Correlator on the Terrain Model for Apollo Metric Images

A stereo correlation method on the object domain is proposed to generate the accurate and dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce high-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. Given camera parameters of an image pair from bundle adjustment in ASP, a correlation window is defined on the terrain with the predefined surface normal of a post rather than image domain. The squared error of back-projected images on the local terrain is minimized with respect to the post elevation. This single dimensional optimization is solved efficiently and improves the accuracy of the elevation estimate.

Terrain Model↗