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NASA NTRS1998

Clementine High Resolution Camera Mosaicking Project: CL 6003; 0 deg N to 80 deg N Latitude, 30 deg E to 60 deg E Longitude - Volume 3

This compact disk (CD) is part of the Malin Space Science Systems (MSSS) effort to mosaic Clementine I high resolution (HiRes) camera lunar images. These mosaics were developed through calibration and semi-automated registration against the recently released geometrically and photometrically controlled Ultraviolet/Visible (UV/Vis) Basemap Mosaic, which is available through the PDS, as CD-ROM volumes CL_3001-3015. The HiRes mosaics are compiled from non-uniformity corrected, 750 nanometer ("D") filter high resolution observations from the HiRes imaging system onboard the Clementine Spacecraft. These mosaics are spatially warped using the sinusoidal equal-area projection at a scale of 20 m/pixel. The geometric control is provided by the 100 m/pixel U.S. Geological Survey (USGS) Clementine Basemap Mosaic compiled from the 750 nm Ultraviolet/Visible Clementine imaging system. Calibration was achieved by removing the image nonuniformity largely caused by the HiRes system's light intensifier. Also provided are offset and scale factors, achieved by a fit of the HiRes data to the corresponding photometrically calibrated UV/Vis basemap that approximately transform the 8-bit HiRes data to photometric units. The mosaics on this CD were compiled from sub-polar data (latitudes 80 degrees South to 80 degrees North; -80 to +80) within the longitude range 0-30 deg E. The mosaics are divided into tiles that cover approximately 1.75 degrees of latitude and span the longitude range of the mosaicked frames. Images from a given orbit are map projected using the orbit's nominal central latitude. This CD contains ancillary data files that support the HiRes mosaic. These files include browse images with UV/Vis context stored in a Joint Photographic Experts Group (JPEG) format, index files ('imgindx.tab' and 'srcindx.tab') that tabulate the contents of the CD, and documentation files. For more information on the contents and organization of the CD volume set refer to the "FILES, DIRECTORIES AND DISK CONTENTS" section of this document. The image files are organized according to NASA's Planetary Data System (PDS) standards. An image file (tile) is organized as a PDS labeled file containing an "image object".

Malin, Michael↗

NASA NTRS1998

Clementine High Resolution Camera Mosaicking Project: CL 6018; 80 deg N to 80 deg S Latitude, 330 deg E to 360 deg E Longitude - Volume 18

This compact disk (CD) is part of the Malin Space Science Systems (MSSS) effort to mosaic Clementine I high resolution (HiRes) camera lunar images. These mosaics were developed through calibration and semi-automated registration against the recently released geometrically and photometrically controlled Ultraviolet/Visible (UV/Vis) Basemap Mosaic, which is available through the PDS, as CD-ROM volumes CL_3001-3015. The HiRes mosaics are compiled from non-uniformity corrected, 750 nanometer ("D") filter high resolution observations from the HiRes imaging system onboard the Clementine Spacecraft. These mosaics are spatially warped using the sinusoidal equal-area projection at a scale of 20 m/pixel. The geometric control is provided by the 100 m/pixel U. S. Geological Survey (USGS) Clementine Basemap Mosaic compiled from the 750 nm Ultraviolet/Visible Clementine imaging system. Calibration was achieved by removing the image nonuniformity largely caused by the HiRes system's light intensifier. Also provided are offset and scale factors, achieved by a fit of the HiRes data to the corresponding photometrically calibrated UV/Vis basemap that approximately transform the 8-bit HiRes data to photometric units. The mosaics on this CD were compiled from sub-polar data (latitudes 80 degrees South to 80 degrees North; -80 to +80) within the longitude range 0-30 deg E. The mosaics are divided into tiles that cover approximately 1.75 degrees of latitude and span the longitude range of the mosaicked frames. Images from a given orbit are map projected using the orbit's nominal central latitude. This CD contains ancillary data files that support the HiRes mosaic. These files include browse images with UV/Vis context stored in a Joint Photographic Experts Group (JPEG) format, index files ('imgindx.tab' and 'srcindx.tab') that tabulate the contents of the CD, and documentation files. For more information on the contents and organization of the CD volume set refer to the "FILES, DIRECTORIES AND DISK CONTENTS" section of this document. The image files are organized according to NASA's Planetary Data System (PDS) standards. An image file (tile) is organized as a PDS labeled file containing an "image object".

Malin, Michael↗

NASA NTRS1998

Clementine High Resolution Camera Mosaicking Project: CL 6017; 0 deg to 80 deg S Latitude, 330 deg E Longitude - Volume 17

Malin, Michael↗

NASA NTRS2004

Dramatic Improvements to Feature Based Stereo

The camera registration extracted from feature based stereo is usually considered sufficient to accurately localize the 3D points. However, for natural scenes the feature localization is not as precise as in man-made environments. This results in small camera registration errors. We show that even very small registration errors result in large errors in dense surface reconstruction. We describe a method for registering entire images to the inaccurate surface model. This gives small, but crucially important improvements to the camera parameters. The new registration gives dramatically better dense surface reconstruction.

Smelyansky, V. N.↗

NASA NTRS1972

A solid state multispectral imager.

Photodiode arrays used as image sensors in satellite remote imaging systems offer the advantages of geometric accuracy, precise registration of scene elements, enhanced operational reliability, and wide spectral response. Principles of photodiode-array operation are reviewed, and the latest developments in self-scanned array chip technology are described along with optical system requirements for multispectral coverage. Results of development efforts with a spaceborne solid-state multispectral camera based on linear sensing array technology are outlined to demonstrate the capabilities of this approach to multispectral sensing.

Green, A.↗

NASA NTRS1983

Shear zone ice deformation using supervised analysis of Seasat data

Spacecraft and aircraft Synthetic-Aperture Radar (SAR) images are commonly used to compute sea ice conditions including especially the drift velocities of ice features. Recent developments, described in this paper, in computer-aided analysis and in digital image processing have extended the analysis speed and accuracy of registration to the point that ice deformation can be examined on the geophysically important scales of about 100 m over tens of kilometers between two 'snapshots.' Examples are shown for the ice motion and rotation in the shear zone near the Alaska coast from Seasat data in 1978.

Carsey, F.↗

NASA NTRS1996

MISR Band-to-Band Registration

During the standard geo-rectification processing of the MISR imagery, all four spectral bands belonging to each of the nine MISR cameras are required to be geolocated and co-registered automatically with about one pixel accuracy. Two steps of processing are designed to accomplish this goal: 1)a complex multi-camera geolocation and co-registration of the red spectral band data for all nine cameras, and 2) the co-registration of the other three spectral bands of MISR imagery of each camera using their relationship with the already geolocated red band imagery. This paper addresses the second processing.

geolocationco-registration↗

NASA NTRS1999

Level 1 Georectification and Registration Algorithm Theoretical Basis

This Algorithm Theoretical Basis (ATB) document describes the algorithms used to generate the Multi-angle Imaging SpectroRadiometer (MISR) Level 1B2 Georectified Radiance Product (GRP).

photogrammetry geolocation map-projection registra↗

NASA NTRS1990

Land use change detection based on multi-date imagery from different satellite sensor systems

An empirical study is conducted to assess the accuracy of land use change detection using satellite image data acquired ten years apart by sensors with differing spatial resolutions. The primary goals of the investigation were to (1) compare standard change detection methods applied to image data of varying spatial resolution, (2) assess whether to transform the raster grid of the higher resolution image data to that of the lower resolution raster grid or vice versa in the registration process, (3) determine if Landsat/Thermatic Mapper or SPOT/High Resolution Visible multispectral data provide more accurate detection of land use changes when registered to historical Landsat/MSS data. It is concluded that image ratioing of multisensor, multidate satellite data produced higher change detection accuracies than did principal components analysis, and that it is useful as a land use change enhancement method.

Stow, Douglas A.↗

NASA NTRS2011

Automatic Tie Pointer for In-Situ Pointing Correction

The MARSAUTOTIE program generates tie points for use with the Mars pointing correction software "In-Situ Pointing Correction and Rover Microlocalization," (NPO-46696) Soft ware Tech Briefs, Vol. 34, No. 9 (September 2010), page 18, in a completely automated manner, with no operator intervention. It takes the place of MARSTIE, although MARSTIE can be used to interactively edit the tie points afterwards. These tie points are used to create a mosaic whose seams (boundaries of input images) have been geometrically corrected to reduce or eliminate errors and mis-registrations. The methods used to find appropriate tie points for use in creating a mosaic are unique, having been designed to work in concert with the "MARSNAV" program to be most effective in reducing or eliminating geometric seams in a mosaic. The program takes the input images and finds overlaps according to the nominal pointing. It then finds the most interesting areas using a scene activity metric. Points with higher scene activity are more likely to correlate successfully in the next step. It then uses correlation techniques to find matching points in the overlapped image. Finally, it performs a series of steps to reduce the number of tie points to a manageable level. These steps incorporate a number of heuristics that have been devised using experience gathered by tie pointing mosaics manually during MER operations. The software makes use of the PIG library as described in "Planetary Image Geometry Library" (NPO-46658), NASA Tech Briefs, Vol. 34, No. 12 (December 2010), page 30, so it is multi-mission, applicable without change to any in-situ mission supported by PIG. The MARSAUTOTIE algorithm is automated, so it requires no user intervention. Although at the time of this reporting it has not been done, this program should be suitable for integration into a fully automated mosaic production pipeline.

Deen, Robert G/↗

NASA NTRS1995

Software For Tie-Point Registration Of SAR Data

SAR-REG software package registers synthetic-aperture-radar (SAR) image data to common reference frame based on manual tie-pointing. Image data can be in binary, integer, floating-point, or AIRSAR compressed format. For example, with map of soil characteristics, vegetation map, digital elevation map, or SPOT multispectral image, as long as user can generate binary image to be used by tie-pointing routine and data are available in one of the previously mentioned formats. Written in FORTRAN 77.

Rignot, Eric↗

NASA NTRS2021

Spatial Registration Assessments for the SNPP and N20 VIIRS Reflective Solar Bands Using Unscheduled Lunar Observations

The Visible Infrared Imaging Radiometer Suite (VIIRS) is a multi-spectral Earth-observing instrument on board the Suomi-NPP (SNPP) and NOAA-20 (N20) spacecraft, with spectral bands ranging in wavelength from 0.41 to 12.2 μm. For the reflective solar bands (RSB), the bands are calibrated on orbit using both solar diffuser (SD) and lunar observations. The lunar observations use near-monthly scheduled spacecraft maneuvers in order to view the Moon within a desired phase angle range. While the primary purpose of the maneuvers is for radiometric calibration, these observations can also be used to characterize the spatial performance of the instrument, including the band-to-band and detector-to-detector registration (BBR/DDR). The Moon can also be observed without spacecraft maneuvers. However, these observations are over a larger phase angle range. While the geometry of these unscheduled observations is more varied, they can still be used to assess the sensor performance. In this work, we will use unscheduled Moon data to analyze the BBR and DDR of the SNPP and N20 VIIRS RSB. For the BBR, we implemented an image cross-correlation approach, which removes the residual oscillations in the trending data when compared to previous methodologies. For the DDR, we developed an edge fitting approach that accounts for the lunar motion across the VIIRS focal plane array on a scan-by-scan basis using lunar and satellite ephemeris data. In our analysis, we find that the BBR and DDR for both VIIRS RSB are stable on orbit.

Band-to-band registration (BBR)↗

NASA NTRS1997

A scale space feature based registration technique for fusion of satellite imagery

Feature based registration is one of the most reliable methods to register multi-sensor images (both active and passive imagery) since features are often more reliable than intensity or radiometric values. The only situation where a feature based approach will fail is when the scene is completely homogenous or densely textural in which case a combination of feature and intensity based methods may yield better results. In this paper, we present some preliminary results of testing our scale space feature based registration technique, a modified version of feature based method developed earlier for classification of multi-sensor imagery. The proposed approach removes the sensitivity in parameter selection experienced in the earlier version as explained later.

Raghavan, Srini↗

NASA NTRS1997

Registration assisted mosaic generation

This paper presents a general strategy for assembling mosaics from numerous individual images where uncertainty exists in the position and orientation of those images. Both of the presented applications relate to remotely operated camera platforms, the first being the Galileo solid state imaging (SSI) camera presently in orbit around Jupiter, and the second being the Imager for Mars Pathfinder (IMP) stereo camera on Mars. A basic strategy in both applications is to determine the correct relative camera pointing followed by direct map projection of the images. It is assumed that approximate camera pointing exists sufficient to locate adjacent images and to place initial tiepoints within reach of the correlator. Spatial correlation is used to fix tiepoints whose initial locations are predicted by the camera pointing. We use either an fast fourier transform (fft) algorithm or a variant of Gruen's scheme permitting limited image rotation and skew. The Gruen correlator has three hierarchical modes: 1) A classical spatial least squares correlation on integral pixel boundaries used when rotation is small. 2) An annealing non-deterministic search used when rotations are unknown. A simplex deterministic search used for the end game. The correlation operation can be performed either interactively or autonomously. The final camera pointing solution relies upon a simplex downhill search in 2n or 3n dimensions where n is the number of images comprising the mosaic and the objective function to be minimized is the disagreement between tiepoint locations predicted from the camera pointing with those observed by the correlator. For Galileo the 3n unknowns are euler angles defining camera pointing in planet coordinates, and for Mars Pathfinder they are 2n unknowns representing commanded azimuth and elevation in the Lander coordinate system.

Lorre, Jean J.↗

NASA NTRS1986

Performance of the SIR-B digital image processing subsystem

A ground-based system to generate digital SAR image products has been developed and implemented in support of the SIR-B mission. This system is designed to achieve the maximum throughput while meeting strict image fidelity criteria. Its capabilities include: automated radiometric and geometric correction of the output imagery; high-precision absolute location without tiepoint registration; filtering of the raw data to remove spurious signals from alien radars; and automated catologing to maintain a full set of radar and image production facility in support of the SIR-B science investigators routinely produces over 80 image frames per week.

Curlander, J. C.↗

NASA NTRS1973

Digital processing of radiographic images

Some techniques are presented and the software documentation for the digital enhancement of radiographs. Both image handling and image processing operations are considered. The image handling operations dealt with are: (1) conversion of format of data from packed to unpacked and vice versa; (2) automatic extraction of image data arrays; (3) transposition and 90 deg rotations of large data arrays; (4) translation of data arrays for registration; and (5) reduction of the dimensions of data arrays by integral factors. Both the frequency and the spatial domain approaches are presented for the design and implementation of the image processing operation. It is shown that spatial domain recursive implementation of filters is much faster than nonrecursive implementations using fast fourier transforms (FFT) for the cases of interest in this work. The recursive implementation of a class of matched filters for enhancing image signal to noise ratio is described. Test patterns are used to illustrate the filtering operations. The application of the techniques to radiographic images of metallic structures is demonstrated through several examples.

Bond, A. D.↗

NASA NTRS1984

Investigation of TM Band-to-band Registration Using the JSC Registration Processor

The JSC registration processor performs scene-to-scene (or band-to-band) correlation based on edge images. The edge images are derived from a percentage of the edge pixels calculated from the raw scene data, excluding clouds and other extraneous data in the scene. Correlations are performed on patches (blocks) of the edge images, and the correlation peak location in each patch is estimated iteratively to fractional pixel location accuracy. Peak offset locations from all patches over the scene are then considered together, and a variety of tests are made to weed out outliers and other inconsistencies before a distortion model is assumed. Thus, the correlation peak offset locations in each patch indicate quantitatively how well the two TM bands register to each other over that patch of scene data. The average of these offsets indicate the overall accuracies of the band-to-band registration. The registration processor was also used to register one acquisition to another acquisition of multitemporal TM data acquired over the same ground track. Band 4 images from both acquisitions were correlated and an rms error of a fraction of a pixel was routinely obtained.

Yao, S. S.↗

NASA NTRS1997

Efficient algorithms for robust feature matching

One of the basic building blocks in any point-based registration scheme involves matching feature points that are extracted from the sensed image to their counterparts in the reference image. This leads to the fundamental problem of point matching: given two sets of points, find the affine transformation that transforms one point set so that its distance from the other point set is minimized. Because of measurement errors and the presence of outlying data points, it is important that the distance measure between two point sets be robust to these effects. We measure distances using the generalized Hausdorff distance. Point matching can be a computationally intensive task, and there have been a number of algorithms and approaches proposed for solving this problem both theoretical and applied. We present two approaches to the point matching problem, in an attempt to reduce the computational complexity of the problem, while still providing guarantees on the quality of the final match. Our first method is an approximation algorithm, which is loosely based on a branch-and-bound approach due to Huttenlocher and Rucklidge. We show that by varying the approximation error bounds, it is possible to achieve a tradeoff between the quality of the match and the running time of the algorithm. Our second method involves a Monte Carlo method for accelerating the search process used in the first algorithm. With high probability this method succeeds in finding an approximately optimal match. We establish the efficiency of our approaches empirically.

Mount, David M.↗