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All sources NASA NTRS DOE OSTI

NASA NTRS2012

Mars Science Laboratory Engineering Cameras

NASA's Mars Science Laboratory (MSL) Rover, which launched to Mars in 2011, is equipped with a set of 12 engineering cameras. These cameras are build-to-print copies of the Mars Exploration Rover (MER) cameras, which were sent to Mars in 2003. The engineering cameras weigh less than 300 grams each and use less than 3 W of power. Images returned from the engineering cameras are used to navigate the rover on the Martian surface, deploy the rover robotic arm, and ingest samples into the rover sample processing system. The navigation cameras (Navcams) are mounted to a pan/tilt mast and have a 45-degree square field of view (FOV) with a pixel scale of 0.82 mrad/pixel. The hazard avoidance cameras (Haz - cams) are body-mounted to the rover chassis in the front and rear of the vehicle and have a 124-degree square FOV with a pixel scale of 2.1 mrad/pixel. All of the cameras utilize a frame-transfer CCD (charge-coupled device) with a 1024x1024 imaging region and red/near IR bandpass filters centered at 650 nm. The MSL engineering cameras are grouped into two sets of six: one set of cameras is connected to rover computer A and the other set is connected to rover computer B. The MSL rover carries 8 Hazcams and 4 Navcams.

Maki, Justin N.↗

NASA NTRS2018

On-Ground Calibration and Optical Alignment for the Orion Optical Navigation Camera

The Orion Multi-Purpose Crew Vehicle on-board Navigation System will utilize the Optical Navigation measurements of the Moon and Earth during cis-lunar operations. Misalignment or an un-calibrated optical navigation camera may cause large measurement residuals in any on-board attitude determination and navigation system. Therefore, a novel estimation technique to calibrate the internal camera parameters, and a high accuracy optical alignment procedure to estimate the external camera alignment are introduced in this paper. The intrinsic camera parameters such as the focal length, the principle point offsets, and the camera lens distortion parameters will be estimated and evaluated using images of star fields. This calibration estimation technique can be used either on-ground or in flight. The proposed technique in this paper is using the discrepancy between imaged star vectors attained from the OpNav camera, and the matched star vectors from the star catalog to determine the changes in internal camera parameters. This gave rise to the two basic types of calibration the attitude dependent and attitude independent methods. The former utilizes the errors in imaged and cataloged vectors themselves, and the latter using the discrepancy in angles between pairs of vectors from the camera and catalog. The alignment procedure is carried out using Theodolite autocollimator measurements taken off alignment cubes mounted on the Orion frame and also the measurements from the OpNav focal plane. It is assumed that the alignment cubes and OpNav camera are rigidly mounted to the frame so that flexing effects do not significantly alter the orientation of the cubes relative to the OpNav camera.

Samaan, Malak↗

DOE OSTI2021

Do Remote Camera Arrangements and Image Capture Settings Improve Individual Identification of Golden Eagles?

Individual identification of animals from camera traps has become an important task in wildlife research, but camera deployment methods often do not facilitate this important undertaking. Identification of individual golden eagles (Aquila chrysaetos) is possible using uniquely marked rectrices, but no studies have explored methods to maximize the rate of individual identification from camera images. Furthermore, our objectives were to assess whether different camera heights (1 m vs. 3 m), image capture settings (one image after a 1-min delay vs. burst of 5 images after a 30 sec delay), and arrangements relative to bait (dorsally vs. ventrally aimed) affected views of rectrices on golden eagles and our ability to identify individuals. We conducted our study from 15 December 2016 to 3 March 2017 on the Savannah River Site, South Carolina. First, we developed a scoring system based on views of rectrices and used a linear mixed-effects model to compare image scores among different camera arrangements and image settings. Next, after identifying individual eagles, we used generalized linear mixed-effects models to compare total individual eagle detections, total days an individual was detected, and probability of obtaining an unknown individual identification among camera arrangements and settings. Overall, we scored a total of 27,499 images, with 8,083 providing views of marked rectrices that allowed identification of 18 individual eagles. Average image scores and proportion of images suitable for individual identification were higher from elevated (3 m) camera arrangements than standard arrangements (1 m) across sites. Regardless of camera height, faster frequency of image capture provided more images that could be used to identify individuals and the most trap days per individual. Researchers and managers should consider deploying elevated cameras traps with faster frequency of image capture to improve data quality and potential for analysis of golden eagle populations and trends across the species’ range.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2025

Radiation Imaging with Event Camera

Neuromorphic or event-based imaging is a new, commercially available sensor technology inspired by how the human eye works. Instead of measuring frames at a fixed rate, the camera measures changes in pixel intensity asynchronously. This difference in readout architecture results in a high dynamic range and low latency. Event-based cameras have been used in a variety of applications, including object tracking, navigation, and lidar technologies. However, event-based cameras have not been adequately researched for their ability to image high-energy particles. This report explores the use of an event camera for imaging alpha, beta, and X-rays particles, when coupled with scintillator screens to convert high-energy particles into visible light. Methods to process event data were developed and are presented here, along with the results. The event camera can measure alpha and beta particles with comparable performance to that of a conventional camera. Event cameras can also image higher-activity sources and offer the possibility of discriminating particle interaction types on the basis of timing differences, which typical cameras cannot do. Additionally, event cameras can image objects with an X-ray source when the source strength dynamically changes but does not create a high-contrast image during static X-ray measurement.

47 OTHER INSTRUMENTATION↗

NASA NTRS2007

Advanced High-Definition Video Cameras

A product line of high-definition color video cameras, now under development, offers a superior combination of desirable characteristics, including high frame rates, high resolutions, low power consumption, and compactness. Several of the cameras feature a 3,840 2,160-pixel format with progressive scanning at 30 frames per second. The power consumption of one of these cameras is about 25 W. The size of the camera, excluding the lens assembly, is 2 by 5 by 7 in. (about 5.1 by 12.7 by 17.8 cm). The aforementioned desirable characteristics are attained at relatively low cost, largely by utilizing digital processing in advanced field-programmable gate arrays (FPGAs) to perform all of the many functions (for example, color balance and contrast adjustments) of a professional color video camera. The processing is programmed in VHDL so that application-specific integrated circuits (ASICs) can be fabricated directly from the program. ["VHDL" signifies VHSIC Hardware Description Language C, a computing language used by the United States Department of Defense for describing, designing, and simulating very-high-speed integrated circuits (VHSICs).] The image-sensor and FPGA clock frequencies in these cameras have generally been much higher than those used in video cameras designed and manufactured elsewhere. Frequently, the outputs of these cameras are converted to other video-camera formats by use of pre- and post-filters.

Glenn, William↗

NASA NTRS2007

Improved Tracking of Targets by Cameras on a Mars Rover

A paper describes a method devised to increase the robustness and accuracy of tracking of targets by means of three stereoscopic pairs of video cameras on a Mars-rover-type exploratory robotic vehicle. Two of the camera pairs are mounted on a mast that can be adjusted in pan and tilt; the third camera pair is mounted on the main vehicle body. Elements of the method include a mast calibration, a camera-pointing algorithm, and a purely geometric technique for handing off tracking between different camera pairs at critical distances as the rover approaches a target of interest. The mast calibration is an extension of camera calibration in which the camera images of calibration targets at known positions are collected at various pan and tilt angles. In the camerapointing algorithm, pan and tilt angles are computed by a closed-form, non-iterative solution of inverse kinematics of the mast combined with mathematical models of the cameras. The purely geometric camera-handoff technique involves the use of stereoscopic views of a target of interest in conjunction with the mast calibration.

Kim, Won↗

NASA NTRS2010

Infrared Camera System for Visualization of IR-Absorbing Gas Leaks

Leak detection and location remain a common problem in NASA and industry, where gas leaks can create hazardous conditions if not quickly detected and corrected. In order to help rectify this problem, this design equips an infrared (IR) camera with the means to make gas leaks of IR-absorbing gases more visible for leak detection and location. By comparing the output of two IR cameras (or two pictures from the same camera under essentially identical conditions and very closely spaced in time) on a pixel-by-pixel basis, one can cancel out all but the desired variations that correspond to the IR absorption of the gas of interest. This can be simply done by absorbing the IR lines that correspond to the gas of interest from the radiation received by one of the cameras by the intervention of a filter that removes the particular wavelength of interest from the "reference" picture. This can be done most sensitively with a gas filter (filled with the gas of interest) placed in front of the IR detector array, or (less sensitively) by use of a suitable line filter in the same location. This arrangement would then be balanced against the unfiltered "measurement" picture, which will have variations from IR absorption from the gas of interest. By suitable processing of the signals from each pixel in the two IR pictures, the user can display only the differences in the signals. Either a difference or a ratio output of the two signals is feasible. From a gas concentration viewpoint, the ratio could be processed to show the column depth of the gas leak. If a variation in the background IR light intensity is present in the field of view, then large changes in the difference signal will occur for the same gas column concentration between the background and the camera. By ratioing the outputs, the same signal ratio is obtained for both high- and low-background signals, even though the low-signal areas may have greater noise content due to their smaller signal strength. Thus, one embodiment would use a ratioed output signal to better represent the gas column concentration. An alternative approach uses a simpler multiplication of the filtered signal to make the filtered signal equal to the unfiltered signal at most locations, followed by a subtraction to remove all but the wavelength-specific absorption in the unfiltered sample. This signal processing can also reveal the net difference signal representing the leaking gas absorption, and allow rapid leak location, but signal intensity would not relate solely to gas absorption, as raw signal intensity would also affect the displayed signal. A second design choice is whether to use one camera with two images closely spaced in time, or two cameras with essentially the same view and time. The figure shows the two-camera version. This choice involves many tradeoffs that are not apparent until some detailed testing is done. In short, the tradeoffs involve the temporal changes in the field picture versus the pixel sensitivity curves and frame alignment differences with two cameras, and which system would lead to the smaller variations from the uncontrolled variables.

Youngquist, Robert↗

NASA NTRS2015

Low Noise Camera for Suborbital Science Applications

Low-cost, commercial-off-the-shelf- (COTS-) based science cameras are intended for lab use only and are not suitable for flight deployment as they are difficult to ruggedize and repackage into instruments. Also, COTS implementation may not be suitable since mission science objectives are tied to specific measurement requirements, and often require performance beyond that required by the commercial market. Custom camera development for each application is cost prohibitive for the International Space Station (ISS) or midrange science payloads due to nonrecurring expenses (~$2,000 K) for ground-up camera electronics design. While each new science mission has a different suite of requirements for camera performance (detector noise, speed of image acquisition, charge-coupled device (CCD) size, operation temperature, packaging, etc.), the analog-to-digital conversion, power supply, and communications can be standardized to accommodate many different applications. The low noise camera for suborbital applications is a rugged standard camera platform that can accommodate a range of detector types and science requirements for use in inexpensive to mid range payloads supporting Earth science, solar physics, robotic vision, or astronomy experiments. Cameras developed on this platform have demonstrated the performance found in custom flight cameras at a price per camera more than an order of magnitude lower.

Hyde, David↗

NASA NTRS2018

Context Cameras for the Orbiting Carbon Observatory 3 (OCO-3) Instrument

We have developed an adaptable camera platform that takes advantage of screened and qualified commercial off the shelf (COTS) components (CMOS sensor, rad-tolerant microcircuits, lenses) to significantly shorten development time of space-borne visible imaging systems while reducing the overall cost and risk of the development. This modular camera platform is implemented as a suite of two visible-light cameras for the Orbiting Carbon Observatory 3 (OCO-3) instrument at NASA’s Jet Propulsion Laboratory (JPL). The Internal Context Camera (ICC) and External Context Camera (ECC) provide contextual engineering imaging support for the calibration of the OCO-3 instrument, intended to significantly reduce the duration of the mission’s calibration campaign. The OCO-3 mission has taken advantage of the design and qualification work performed by JPL’s Mars 2020 Enhanced Engineering Camera (EECam) team in reusing the qualified COTS CMOS imaging sensor, proven electronic designs, and scalable field-programmable gate array (FPGA) firmware to meet OCO-3’s mission requirements and resource availability. We will be presenting the steps taken by JPL to design, build, and test the Context Cameras for the OCO-3 mission. We will highlight the design deviations from the Mars2020 EECams and discuss the methodology of tailoring the EECam design for the OCO-3 requirements. Camera imaging capabilities, including focal plane and optical performance, will be presented, as well as a summary of the calibration and environmental test results. Finally, we will discuss the potential for future applications for the Context Cameras.

Moore, Douglas↗

DOE OSTI2023

Vehicle Localization in 3D World Coordinates Using Single Camera at Traffic Intersection

Optimizing traffic control systems at traffic intersections can reduce the network-wide fuel consumption, as well as emissions of conventional fuel-powered vehicles. While traffic signals have been controlled based on predetermined schedules, various adaptive signal control systems have recently been developed using advanced sensors such as cameras, radars, and LiDARs. Among these sensors, cameras can provide a cost-effective way to determine the number, location, type, and speed of the vehicles for better-informed decision-making at traffic intersections. In this research, a new approach for accurately determining vehicle locations near traffic intersections using a single camera is presented. For that purpose, a well-known object detection algorithm called YOLO is used to determine vehicle locations in video images captured by a traffic camera. YOLO draws a bounding box around each detected vehicle, and the vehicle location in the image coordinates is converted to the world coordinates using camera calibration data. During this process, a significant error between the center of a vehicle’s bounding box and the real center of the vehicle in the world coordinates is generated due to the angled view of the vehicles by a camera installed on a traffic light pole. As a means of mitigating this vehicle localization error, two different types of regression models are trained and applied to the centers of the bounding boxes of the camera-detected vehicles. The accuracy of the proposed approach is validated using both static camera images and live-streamed traffic video. Based on the improved vehicle localization, it is expected that more accurate traffic signal control can be made to improve the overall network-wide energy efficiency and traffic flow at traffic intersections.

47 OTHER INSTRUMENTATION↗

DOE OSTI2023

Observing fish interactions with marine energy turbines using acoustic cameras

Abstract Marine current energy converters such as tidal and riverine turbines have the potential to provide reliable, clean power. The risk of collision of fishes with marine energy turbines is not yet well understood, in part due to the challenges associated with observing fish at turbine sites. Turbidity and light availability can limit the effectiveness of optical sensors like video cameras, motivating the use of acoustic cameras for this task. However, challenges persist in collecting and interpreting data acquired from acoustic cameras. Given the limited number of turbine deployments to date, it is prudent to draw on the application of acoustic cameras to monitor fish in other scenarios. This article synthesizes their use for other fisheries applications to inform best practices and set realistic expectations for the results of acoustic camera monitoring at turbine sites. We discuss six key tasks performed with acoustic cameras: detecting objects, identifying objects as fish, counting fish, measuring fish, classifying fish taxonomically and analysing fish behavior. Specific challenges to monitoring fish at turbine sites are discussed. This article is intended to serve as a reference for researchers, regulators and marine energy developers on effective use of acoustic cameras to monitor fish at turbine sites. The studies detailed in this article provide evidence that, in some scenarios, acoustic cameras can be used to inform the risk of fish collision with marine energy turbines but doing so requires careful study design and data processing.

Cotter, Emma↗

DOE OSTI2020

LiDAR-Aided Interior Orientation Parameters Refinement Strategy for Consumer-Grade Cameras Onboard UAV Remote Sensing Systems

Unmanned aerial vehicles (UAVs) are quickly emerging as a popular platform for 3D reconstruction/modeling in various applications such as precision agriculture, coastal monitoring, and emergency management. For such applications, LiDAR and frame cameras are the two most commonly used sensors for 3D mapping of the object space. For example, point clouds for the area of interest can be directly derived from LiDAR sensors onboard UAVs equipped with integrated global navigation satellite systems and inertial navigation systems (GNSS/INS). Imagery-based mapping, on the other hand, is considered to be a cost-effective and practical option and is often conducted by generating point clouds and orthophotos using structure from motion (SfM) techniques. Mapping with photogrammetric approaches requires accurate camera interior orientation parameters (IOPs), especially when direct georeferencing is utilized. Most state-of-the-art approaches for determining/refining camera IOPs depend on ground control points (GCPs). However, establishing GCPs is expensive and labor-intensive, and more importantly, the distribution and number of GCPs are usually less than optimal to provide adequate control for determining and/or refining camera IOPs. Moreover, consumer-grade cameras with unstable IOPs have been widely used for mapping applications. Therefore, in such scenarios, where frequent camera calibration or IOP refinement is required, GCP-based approaches are impractical. To eliminate the need for GCPs, this study uses LiDAR data as a reference surface to perform in situ refinement of camera IOPs. The proposed refinement strategy is conducted in three main steps. An image-based sparse point cloud is first generated via a GNSS/INS-assisted SfM strategy. Then, LiDAR points corresponding to the resultant image-based sparse point cloud are identified through an iterative plane fitting approach and are referred to as LiDAR control points (LCPs). Finally, IOPs of the utilized camera are refined through a GNSS/INS-assisted bundle adjustment procedure using LCPs. Seven datasets over two study sites with a variety of geomorphic features are used to evaluate the performance of the developed strategy. The results illustrate the ability of the proposed approach to achieve an object space absolute accuracy of 3–5 cm (i.e., 5–10 times the ground sampling distance) at a 41 m flying height.

47 OTHER INSTRUMENTATION↗

NASA NTRS1991

Composite video and graphics display for multiple camera viewing system in robotics and teleoperation

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Diner, Daniel B.↗

NASA NTRS1991

Stereoscopic camera and viewing systems with undistorted depth presentation and reduced or eliminated erroneous acceleration and deceleration perceptions, or with perceptions produced or enhanced for special effects

Methods for providing stereoscopic image presentation and stereoscopic configurations using stereoscopic viewing systems having converged or parallel cameras may be set up to reduce or eliminate erroneously perceived accelerations and decelerations by proper selection of parameters, such as an image magnification factor, q, and intercamera distance, 2w. For converged cameras, q is selected to be equal to Ve - qwl = 0, where V is the camera distance, e is half the interocular distance of an observer, w is half the intercamera distance, and l is the actual distance from the first nodal point of each camera to the convergence point, and for parallel cameras, q is selected to be equal to e/w. While converged cameras cannot be set up to provide fully undistorted three-dimensional views, they can be set up to provide a linear relationship between real and apparent depth and thus minimize erroneously perceived accelerations and decelerations for three sagittal planes, x = -w, x = 0, and x = +w which are indicated to the observer. Parallel cameras can be set up to provide fully undistorted three-dimensional views by controlling the location of the observer and by magnification and shifting of left and right images. In addition, the teachings of this disclosure can be used to provide methods of stereoscopic image presentation and stereoscopic camera configurations to produce a nonlinear relation between perceived and real depth, and erroneously produce or enhance perceived accelerations and decelerations in order to provide special effects for entertainment, training, or educational purposes.

Diner, Daniel B.↗

NASA NTRS1993

Composite video and graphics display for camera viewing systems in robotics and teleoperation

Diner, Daniel B.↗

NASA NTRS1997

Light-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

A laser-directed ranging system has utility for use in various fields, such as telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a single video camera and a directional light source such as a laser mounted on a camera platform, and a remotely positioned operator. In one embodiment, the position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. The laser is offset vertically and horizontally from the camera, and the laser/camera platform is directed by the user to point the laser and the camera toward a target device. The image produced by the video camera is processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. A reference point is defined at a point in the video frame, which may be located outside of the image area of the camera. The disparity between the digital image of the laser spot and the reference point is calculated for use in a ranging analysis to determine range to the target.

Wells, Dennis L.↗

NASA NTRS2008

Two-Camera Acquisition and Tracking of a Flying Target

A method and apparatus have been developed to solve the problem of automated acquisition and tracking, from a location on the ground, of a luminous moving target in the sky. The method involves the use of two electronic cameras: (1) a stationary camera having a wide field of view, positioned and oriented to image the entire sky; and (2) a camera that has a much narrower field of view (a few degrees wide) and is mounted on a two-axis gimbal. The wide-field-of-view stationary camera is used to initially identify the target against the background sky. So that the approximate position of the target can be determined, pixel locations on the image-detector plane in the stationary camera are calibrated with respect to azimuth and elevation. The approximate target position is used to initially aim the gimballed narrow-field-of-view camera in the approximate direction of the target. Next, the narrow-field-of view camera locks onto the target image, and thereafter the gimbals are actuated as needed to maintain lock and thereby track the target with precision greater than that attainable by use of the stationary camera.

Biswas, Abhijit↗

NASA NTRS2010

Camera Layout Design for the Upper Stage Thrust Cone

Engineers in the Integrated Design and Analysis Division (EV30) use a variety of different tools to aid in the design and analysis of the Ares I vehicle. One primary tool in use is Pro-Engineer. Pro-Engineer is a computer-aided design (CAD) software that allows designers to create computer generated structural models of vehicle structures. For the Upper State thrust cone, Pro-Engineer was used to assist in the design of a layout for two camera housings. These cameras observe the separation between the first and second stage of the Ares I vehicle. For the Ares I-X, one standard speed camera was used. The Ares I design calls for two separate housings, three cameras, and a lighting system. With previous design concepts and verification strategies in mind, a new layout for the two camera design concept was developed with members of the EV32 team. With the new design, Pro-Engineer was used to draw the layout to observe how the two camera housings fit with the thrust cone assembly. Future analysis of the camera housing design will verify the stability and clearance of the camera with other hardware present on the thrust cone.

Wooten, Tevin↗