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KNaCK-SLAM: Kinematic Navigation and Cartography Knapsack Velocity-aided LiDAR Inertial Simultaneous Localization and Mapping (SLAM)
As manned missions return to the Moon and continue on to Mars in the near future, surface navigation and mapping in extremely low solar illumination and unstructured environments without navigation aids like Global Navigation Satellite Systems (GNSS) becomes more important than even. This work explores the use of LiDAR-based Simultaneous Localization and Mapping (SLAM) to solve those problems. A LiDAR-based SLAM system be deployed as a self-contained instrument independent of external sensor inputs, and can operate in unlit environments where Vision-based SLAM system are inoperable. Furthermore, the advent of chip-scale frequency modulated continuous wave (FMCW) LiDAR technology provides Doppler-velocity information for each sensed point in the scene, which can be used to further constrain localization error in the SLAM front-end. Here we discuss the development of SLAM algorithm that makes use of the unique velocity and range sensing capabilities of FMCW-LiDAR based sensors for rover and kinematic (i.e. person-mounted) mobile navigation and terrain mapping applications for surface exploration and scientific investigations.
Earth Resources Technology Satellite data collection project, ERTS - Bolivia
The Earth Resources Technology Satellite program of Bolivia has developed a multidisciplinary project to carry out investigations in cartography and to prepare various thematic maps. In cartography, investigations are being carried out with the ERTS-1 images and with existing maps, to determine their application to the preparation of new cartographic products on one hand and on the other to map those regions where the cartography is still deficient. The application of the MSS images to the geological mapping has given more than satisfactory results. Working with conventional photointerpretation, it has been possible to prepare regional geological maps, tectonic maps, studies relative to mining, geomorphological maps, studies relative to petroleum exploration, volcanological maps and maps of hydrologic basins. In agriculture, the ERTS images are used to study land classification and forest and soils mapping.
Marshes and turbid waters in the French Atlantic littoral
The author has identified the following significant results. The multispectral information provided by ERTS-1 is very rich for the coastal regions but the cloud cover, even when only partial, often cuts up the data, and lessens its practical value. The research by densitometric methods has thus far been the most fruitful. It consists of measuring densities along preferential axes. This method has enabled the investigators to perfect a system of computer cartography for the best image. Comparative study of microdensitometric transects in four MSS bands for carefully dilimited profiles on the ground, makes it possible to isolate and recognize various types of countryside: (1) countryside of coastal plains; (2) countryside of coastal sand dunes and beaches; and (3) forms and processes of offshore domains. This study shows the usefulness of the ERTS program in establishing a rapid cartography of the physiographic units of the coastal plains in the interest of a rational program of exploitation and development.
Management of natural resources through automatic cartographic inventory
The author has identified the following significant results. Significant results of the ARNICA program from August 1972 - January 1973 have been: (1) establishment of image to object correspondence codes for all types of soil use and forestry in northern Spain; (2) establishment of a transfer procedure between qualitative (remote identification and remote interpretation) and quantitative (numerization, storage, automatic statistical cartography) use of images; (3) organization of microdensitometric data processing and automatic cartography software; and (4) development of a system for measuring reflectance simultaneous with imagery.
International Conference on Remote Sensing Applications for Archaeological Research and World Heritage Conservation
Contents include the following: Monitoring the Ancient Countryside: Remote Sensing and GIS at the Chora of Chersonesos (Crimea, Ukraine). Integration of Remote Sensing and GIS for Management Decision Support in the Pendjari Biosphere Reserve (Republic of Benin). Monitoring of deforestation invasion in natural reserves of northern Madagascar based on space imagery. Cartography of Kahuzi-Biega National Park. Cartography and Land Use Change of World Heritage Areas and the Benefits of Remote Sensing and GIS for Conservation. Assessing and Monitoring Vegetation in Nabq Protected Area, South Sinai, Egypt, using combine approach of Satellite Imagery and Land Surveys. Evaluation of forage resources in semi-arid savannah environments with satellite imagery: contribution to the management of a protected area (Nakuru National Park) in Kenya. SOGHA, the Surveillance of Gorilla Habitat in World Heritage sites using Space Technologies. Application of Remote Sensing to monitor the Mont-Saint-Michel Bay (France). Application of Remote Sensing & GIS for the Conservation of Natural and Cultural Heritage Sites of the Southern Province of Sri Lanka. Social and Environmental monitoring of a UNESCO Biosphere Reserve: Case Study over the Vosges du Nord and Pfalzerwald Parks using Corona and Spot Imagery. Satellite Remote Sensing as tool to Monitor Indian Reservation in the Brazilian Amazonia. Remote Sensing and GIS Technology for Monitoring UNESCO World Heritage Sites - A Pilot Project. Urban Green Spaces: Modern Heritage. Monitoring of the technical condition of the St. Sophia Cathedral and related monastic buildings in Kiev with Space Applications, geo-positioning systems and GIS tools. The Murghab delta palaeochannel Reconstruction on the Basis of Remote Sensing from Space. Acquisition, Registration and Application of IKONOS Space Imagery for the cultural World Heritage site at Mew, Turkmenistan. Remote Sensing and VR applications for the reconstruction of archaeological landscapes. Archaeology through Space: Experience in Indian Subcontinent. The creation of a GIS Archaeological Site Location Catalogue in Yucatan: A Tool to preserve its Cultural Heritage. Mapping the Ancient Anasazi Roads of Southeast Utah. Remote Sensing and GIS Technology for Identification of Conservation and Heritage sites in Urban Planning. Mapping Angkor: For a new appraisal of the Angkor region. Angkor and radar imaging: seeing a vast pre-industrial low-density, dispersed urban complex. Technical and methodological aspects of archaeological CRM integrating high resolution satellite imagery. The contribution of satellite imagery to archaeological survey: an example from western Syria. The use of satellite images, digital elevation models and ground truth for the monitoring of land degradation in the "Cinque Terre" National park. Remote Sensing and GIS Applications for Protection and Conservation of World Heritage Site on the coast - Case Study of Tamil Nadu Coast, India. Multispectral high resolution satellite imagery in combination with "traditional" remote sensing and ground survey methods to the study of archaeological landscapes. The case study of Tuscany. Use of Remotely-Sensed Imagery in Cultural Landscape. Characterisation at Fort Hood, Texas. Heritage Learning and Data Collection: Biodiversity & Heritage Conservation through Collaborative Monitoring & Research. A collaborative project by UNESCO's WHC (World Heritage Center) & The GLOBE Program (Global Learning and Observations to Benefit the Environment). Practical Remote Sensing Activities in an Interdisciplinary Master-Level Space Course.
Modern Exploration of the Lewis and Clark Expedition
The Lewis and Clark Geosystem is an online collection of private, state, local, and Federal data resources associated with the geography of the Lewis and Clark Expedition. Data were compiled from key partners including NASA s Stennis Space Center, the U.S. Army Corps of Engineers, the U.S. Fish and Wildlife Service, the U.S. Geological Survey (USGS), the University of Montana, the U.S. Department of Agriculture Forest Service, and from a collection of Lewis and Clark scholars. It combines modern views of the landscape with historical aerial photography, cartography, and other geographical data resources and historical sources, including: The Journals of the Lewis and Clark Expedition, the Academy of Natural Science's Lewis and Clark Herbarium, high-resolution copies of the American Philosophical Society s primary-source Lewis and Clark Journals, The Library of Congress Lewis and Clark cartography collection, as well as artifacts from the Smithsonian Institution and other sources.
Report of geodesy/cartography working group
Geodesy and cartography experiments for lunar exploration probes - photographic apparatus
Time variations of geomagnetic H and D at disturbed stations.
Cylindrical coordinate system describing geomagnetic field analyzed, noting consequences in magnetic cartography when going from field to time gradients
Cartographic Mapping of Mars Landing Sites: A Historical Perspective
Initial mapping of Mars began with the early Mariner 4, 6 and 7 flybys in the 1960's. Mariner 9 obtained the first global coverage of Mars in 1971. Viking Orbiters 1 and 2 added new and higher resolution global coverage. The US Geological Survey produced the first digital global cartographic map products in black and white and in color, the mosaicked digital image models (MDIMs). In 1989, the Phobos 88 mission added imaging as well as multispectral mapping of Mars in the equatorial region. The Mars Global Surveyor (MGS) added to the black and white and color global coverage. The most important development for Mars cartography occurred on MGS with its global coverage of Mars using the Mars Observer Laser Altimeter (MOL A) producing precision ground control in latitude, longitude and radius. The next version of the MDIM was produced at 230 m spatial resolution using MOLA precision cartographic control. The Mars Odyssey mission THEMIS instrument has completed its global infrared mapping of Mars at 100 m spatial resolution. The Mars Express mission is completing its global coverage of Mars in stereo at 100 m spatial resolution or better. MGS, Odyssey and Mars Express continue to provide limited surface coverage at the 1 to 20 m resolution. Currently the new Mars Reconnaissance Orbiter is producing images at the 10's of cm level. All of these datasets provide a rich and historic perspective of Mars covering nearly five decades and allow global cartographic map products to be produced in visual and infrared at the 100 m level with specialized cartographic maps being produced for landing sites at the meter or sub-meter spatial resolution level. This work was produced at the Jet Propulsion Laboratory, California Institute of Technology under contract to the National Aeronautics and Space Administration, NAS 7-7120.5d, within the NASA Mars Data Analysis Program and the MGS, Odyssey, Mars Express and MRO Participating Scientist Programs.
Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments
KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.
Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments
KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.
Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping
KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.
Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments. Lightning Talk. LSIC 2023 Fall Meeting.
KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.
Mobile Lidar as A Tool for Terrestrial and Planetary Cave Exploration and Mapping
The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments [1,2]. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.
Caves as Terrestrial Analogs for Mapping and Exploration in Planetary Surface and Subsurface Environments.
The Kinematic Navigation and Cartography Knapsack (KNaCK) team is developing tools that will enable ultra-high resolution terrain mapping and navigation at the lunar surface. KNaCK uses mobile light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM) algorithms to operate in fully GPS-denied and unilluminated environments. Testing in relevant analogs is key to perfecting this technology for planetary applications. After utilizing desert and volcanic environments for multiple tests, the team is now using caves as an additional proving ground. Tests in terrestrial caves have demonstrated the potential of mobile SLAM LiDAR for use in challenging surface environments such as steep walled craters and permanently shadowed regions as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.
Mobile LiDAR as A Tool for Terrestrial and Planetary Cave Exploration and Mapping
The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.
Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments
KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.