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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Supersonic axial-force characteristics of a rectangular-box cavity with various length-to-depth ratios in a flat plate

A wind-tunnel investigation has been conducted at Mach numbers of 1.50, 2.16, and 2.86 to obtain axial-force data on a metric rectangular-box cavity with various length-to-depth ratios. The model was tested at angles of attack from -4 deg to -2 deg. The results are summarized to show variations in cavity axial-force coefficient for deep- and shallow-cavity configurations with detached and attached cavity flow fields, respectively. The results of the investigation indicate that for a wide range of cavity lengths and depths, good correlations of the cavity axial-force coefficients (based on cavity rear-face area) are obtained when these coefficients are plotted as a function of cavity length-to-depth ratio. Abrupt increases in the cavity axial-force coefficients at an angle of attack of 0 deg. reflect the transition from an open (detached) cavity flow field to a closed (attached) cavity flow field. Cavity length-to-depth ratio is the dominant factor affecting the switching of the cavity flow field from one type to the other. The type of cavity flow field (open or closed) is not dependent on the test angles of attack except near the critical value of length-to-depth ratio.

Blair, A. B., Jr.↗
NASA NTRS1991

Stratospheric aerosol optical depth observed by the Stratospheric Aerosol and Gas Experiment. II - Decay of the El Chichon and Ruiz volcanic perturbations

The decay of the El Chichon perturbation to the optical depth of stratospheric aerosols at 1.02 micron, 0.525 micron, and 0.453 micron is calculated from the Stratospheric Aerosol and Gas Experiment II (SAGE II) data set for the period December 1984 to December 1988. It is found that the perturbed optical depths at middle and higher latitudes of both hemispheres exhibited an exponential decay superimposed by a seasonal oscillation with a maximum and a minimum occurring in local winter and local summer, respectively. Microphysical processes and variation of the tropopause height alone cannot explain this seasonal change of optical depth. The magnitudes of the exponential component at higher latitudes were, in general, larger than those at lower latitudes. For optical depths in tropical regions, the seasonal oscillations were small and were disturbed by the eruption of Nevado del Ruiz on November 13, 1985. The increase in the ratio of optical depth at 0.525 micron to that at 1.02 micron from about 2.0 at the beginning of 1985 to about 3.5 at the end of 1988 indicates the average size of aerosol particles in the stratosphere is diminishing since the eruption of El Chichon. The 1/e folding time for El Chichon decay derived from the SAGE II data set is in reasonably good agreement with those derived by other methods.

Yue, G. K.↗
NASA NTRS1991

The optical depth of the 158 micrometer (C-12 II) line: Detection of the F=1 yields 0 (C-13 III) hyperfine-structure component

The first detection of the F = 1 yields 0 hyperfine component of the 158 micrometer (C-13 II) fine structure line in the interstellar medium is reported. A twelve point intensity map was obtained of the (C-13 II) distribution over the inner 190 inch (right ascension) by 190 inch (declination) regions of the Orion nebula using an imaging Fabry-Perot interferometer. The (C-12 II)/(C-13 II) line intensity ratio varied significantly over the region mapped. It is highest (86 plus or minus 9) in the core of the Orion H II region and significantly lower (62 plus or minus 7) in the outer regions of the map, reflecting higher optical depth in the (C-12 II) line here. It is suggested that this enhanced optical depth is the result of limb brightening of the optically thin (C-13 II) line at the edges of the bowl-shaped H II region blister. If the C-12/C-13 abundance ratio is 43, the (C-12 II) line in the inner regions of the Orion nebula, has a low optical depth: tau sub 12 approximately = 0.75 plus or minus 0.25. The optical depth together with the large brightness temperature of the (C-12 II) line (approximately 160 K) requires that the excitation temperature of the P-2 sub 3/2 level be approximately 310 K, in very good agreement with the previous analysis of the physical conditions of the Orion interface region based on fine structure line intensity ratios and photodissociation region models. If the C-12/C-13 abundance ratio is 67, the line optical depth is somewhat larger (tau sub 12 approximately = 1.85), and the transition excitation temperature is somewhat smaller (approximately 190 K) than that predicted by these models. The present results therefore support values approximately = 43 for the C-12/C-13 abundance ratio in the Orion nebula.

Stacey, G. J.↗
NASA NTRS1992

On the estimation of snow depth from microwave radiometric measurements

Multiple-channel microwave radiometric measurements made over Alaska at aircraft (near 90 and 183 GHz) and satellite (at 37 and 85 GHz) altitudes are used to study the effect of atmospheric absorption on the estimation of snow depth. The estimation is based on the radiative transfer calculations using an early theoretical model of Mie scattering of single-size particles. It is shown that the radiometric correction for the effect of atmospheric absorption is important even at 37 GHz for a reliable estimation of snow depth. Under a dry atmosphere and based on single-frequency radiometric measurements, the underestimation of snow depth could amount to 50 percent at 85 GHz and 20-30 percent at 37 GHz if the effect of atmospheric absorption is not taken into account. The snow depths estimated from the 90-GHz aircraft and 85-GHz satellite measurements are found to be in reasonable agreement. However, there is a discrepancy in the snow depths estimated from the 37-GHz (at both vertical and horizontal polarizations) and 85-GHz satellite measurements.

Wang, James R.↗
NASA NTRS1992

Stereokinetic effect and its relation to the kinetic depth effect

The stereokinetic effect (SKE) has been defined and studied by nested circular patterns rotating on a turntable. Circles must appear not to rotate as they revolve, which in turn results in their appearing to translate relative to one another. A powerful illusion of object depth results even though the individual circles do not undergo an appropriate foreshortening consistent with their apparent changes in slant. It is suggested and tested that the SKE is based on the changing positions between the nested contours despite the absence of any change within each contour, whereas the kinetic depth effect (KDE) entails both kinds of change. It follows that a turntable method of presentation is not necessary, and between-contour transformations can be simulated by computer animation. Displays consisting of simple translations were shown to evoke robust depth impressions as were patterns consisting of contours of varying shapes. Comparisons of the depth, compellingness, and rigidity of matched SKE and KDE displays are reported. The SKE is taken to be paradigmatic for how the visual system perceives depth when observing small object rotations that occur in everyday situations.

Proffitt, Dennis R.↗
NASA NTRS1993

Pinatubo and pre-Pinatubo optical-depth spectra: Mauna Loa measurements, comparisons, inferred particle size distributions, radiative effects, and relationship to lidar data

The Ames airborne tracking sunphotometer was operated at the National Oceanic and Atmospheric Administration (NOAA) Mauna Loa Observatory (MLO) in 1991 and 1992 along with the NOAA Climate Monitoring and Diagnostics Laboratory (CMDL) automated tracking sunphotometer and lidar. June 1991 measurements provided calibrations, optical-depth spectra, and intercomparisons under relatively clean conditions; later measurements provided spectra and comparisons for the Pinatubo cloud plus calibration checks. June 1991 results are similar to previous MLO springtime measurements, with midvisible particle optical depth at the near-background level of 0.012 +/- 0.006 and no significant wavelength dependence in the measured range (lambda = 0.38 to 1.06 micrometers). The arrival of the Pinatubo cloud in July 1991 increased midvisible particle optical depth by more than an order of magnitude and changed the spectral shape of to an approximate power law with an exponent of about -1.4. By clearly September 1991, the spectrum was broadly peaked near 0.5 micrometers, and by July 1992, it was peaked near 0.8 micrometers. Our optical-depth spectra include corrections for diffuse light. NOAA- and Ames Research Center (ARC)-measured spectra are in good agreement. Columnar size distributions inverted from the spectra show that the initial (July 1991) post-Pinatubo cloud was relatively rich in small particles (r less than 0.25 micrometers), which were progressively depleted in the August-September 1991 and July 1992 periods. Conversely, both of the later periods had more of the optically efficient medium-sized particles (0.25 less than r less than 1 micrometers) than did the fresh July 1991 cloud. These changes are consistent with particle growth by condensation and coagulation. Photometer-inferred column backscatter values agree with those measured by the CMDL lidar on nearby nights. Combining lidar-measured backscatter profiles with photometer-derived backscatter-to-area ratios gives peak particle areas that could cause rapid heterogeneous loss of ozone, given sufficiently low particle acidity and suitable solar zenith angles (achieved at mid- to high latitudes). Top-of-troposphere radiative forcings for the September 1991 and July 1992 optical depths and size distributions over MLO are about -5 and -3 W/sq m, respectively (hence comparable in magnitude but opposite in sign to the radiative forcing caused by the increase in manmade greenhouse gases since the industrial revolution). Heating rates in the Pinatubo layer over MLO are 0.55 +/- 0.13 and 0.41 +/- 0.14 K/d for September 1991 and July 1992, respectively.

Russell, P. B.↗
NASA NTRS1993

Pinatubo and Pre-Pinatubo Optical-Depth Spectra: Mauna Loa Measurements, Comparisons, Inferred Particle Size Distributions, Radiative Effects, and Relationship to Lidar Data

The Ames airborne tracking sunphotometer was operated at the National Oceanic and Atmospheric Administration (NOAA) Mauna Loa Observatory (MLO) in 1991 and 1992 along with the NOAA Climate Monitoring and Diagnostics Laboratory (CMDL) automated tracking sunphotometer and lidar. June 1991 measurements provided calibrations, optical-depth spectra, and intercomparisons under relatively clean conditions; later measurements provided spectra and comparisons for the Pinatubo cloud plus calibration checks. June 1991 results are similar to previous MLO springtime measurements, with midvisible particle optical depth tau(sub p)(lambda = 0.526 microns) at the near-background level of 0.012 +/- 0.006 and no significant wavelength dependence in the measured range (lambda = 0.38 to 1.06 microns). The arrival of the Pinatubo cloud in July 1991 increased midvisible particle optical depth by more than an order of magnitude and changed the spectral shape of tau(sub p)(lambda) to an approximate power law with an exponent of about -1.4. By early September 1991, the spectrum was broadly peaked near 0.5 microns, and by July 1992, it was peaked near 0.8 microns. Our optical-depth spectra include corrections for diffuse light which increase postvolcanic midvisible tau(sub p) values by 1 to 3% (i.e., 0.0015 to 0.0023). NOAA- and Ames Research Center (ARC)-measured spectra are in good agreement. Columnar size distributions inverted from the spectra show that the initial (July 1991) post-Pinatubo cloud was relatively rich in small particles (r less than 0.25 microns), which were progressively depleted in the August-September 1991 and July 1992 periods. Conversely, both of the later periods had more of the optically efficient medium-sized particles (0.25 less than r less than 1 micron) than did the fresh July 1991 cloud. These changes are consistent with particle growth by condensation and coagulation. The effective, or area-weighted, radius increased from 0.22 +/- 0.06 micron in July 1991 to 0.56 +/- 0.12 micron in August-September 1991 and to 0.86 +/- 0.29 micron in July 1992. Corresponding column mass values were 4.8 +/- 0.7, 9.1 +/- 2.7, and 5.5 +/- 2 micro g/sq cm, and corresponding column surface areas were 4.4 +/- 0.5, 2.9 +/- 0.2, and 1.1 +/- 0.1 sq micron/sq cm,. Photometer-inferred column backscatter values agree with those measured by the CMDL lidar on nearby nights. Combining lidar-measured backscatter profiles with photometer-derived backscatter-to-area ratios gives peak particle areas that could cause rapid heterogeneous loss of ozone, given sufficiently low particle acidity and suitable solar zenith angles (achieved at mid- to high latitudes). Top-of-troposphere radiative forcings for the September 1991 and July 1992 optical depths and size distributions over MLO are about -5 and -3 W 1/sq m, respectively (hence comparable in magnitude but opposite in sign to the radiative forcing caused by the increase in manmade greenhouse gases since the industrial revolution). Heating rates in Pinatubo layer over MLO are 0.55 +/- 0.13 and 0.41 +/- 0.14 K/d for September 1991 and July 1992, respectively.

Russell, P. B.↗
NASA NTRS1994

Extracting Depth From Motion Parallax in Real-World and Synthetic Displays

In psychophysical studies on human sensitivity to visual motion parallax (MP), the use of computer displays is pervasive. However, a number of potential problems are associated with such displays: cue conflicts arise when observers accommodate to the screen surface, and observer head and body movements are often not reflected in the displays. We investigated observers' sensitivity to depth information in MP (slant, depth order, relative depth) using various real-world displays and their computer-generated analogs. Angle judgments of real-world stimuli were consistently superior to judgments that were based on computer-generated stimuli. Similar results were found for perceived depth order and relative depth. Perceptual competence of observers tends to be underestimated in research that is based on computer generated displays. Such findings cannot be generalized to more realistic viewing situations.

Hecht, Heiko↗
NASA NTRS2007

Antarctic Sea Ice Thickness and Snow-to-Ice Conversion from Atmospheric Reanalysis and Passive Microwave Snow Depth

Passive microwave snow depth, ice concentration, and ice motion estimates are combined with snowfall from the European Centre for Medium Range Weather Forecasting (ECMWF) reanalysis (ERA-40) from 1979-200 1 to estimate the prevalence of snow-to-ice conversion (snow-ice formation) on level sea ice in the Antarctic for April-October. Snow ice is ubiquitous in all regions throughout the growth season. Calculated snow- ice thicknesses fall within the range of estimates from ice core analysis for most regions. However, uncertainties in both this analysis and in situ data limit the usefulness of snow depth and snow-ice production to evaluate the accuracy of ERA-40 snowfall. The East Antarctic is an exception, where calculated snow-ice production exceeds observed ice thickness over wide areas, suggesting that ERA-40 precipitation is too high there. Snow-ice thickness variability is strongly controlled not just by snow accumulation rates, but also by ice divergence. Surprisingly, snow-ice production is largely independent of snow depth, indicating that the latter may be a poor indicator of total snow accumulation. Using the presence of snow-ice formation as a proxy indicator for near-zero freeboard, we examine the possibility of estimating level ice thickness from satellite snow depths. A best estimate for the mean level ice thickness in September is 53 cm, comparing well with 51 cm from ship-based observations. The error is estimated to be 10-20 cm, which is similar to the observed interannual and regional variability. Nevertheless, this is comparable to expected errors for ice thickness determined by satellite altimeters. Improvement in satellite snow depth retrievals would benefit both of these methods.

Markus, Thorsten↗
NASA NTRS2010

Handheld White Light Interferometer for Measuring Defect Depth in Windows

Accurate quantification of defects (scratches and impacts) is vital to the certification of flight hardware and other critical components. The amount of damage to a particular component contributes to the performance, reliability, and safety of a system, which ultimately affects the success or failure of a mission or test. The launch-commit criteria on a Space Shuttle Orbiter window are governed by the depth of the defects that are identified by a visual inspection. This measurement of a defect is not easy to obtain given the environment, size of the defect, and location of the window(s). The determination of depth has typically been performed by taking a mold impression and measuring the impression with an optical profiling instrument. Another method of obtaining an estimate of the depth is by using a refocus microscope. To use a refocus microscope, the surface of the glass and bottom of the defect are, in turn, brought into focus by the operator. The amount of movement between the two points corresponds to the depth of the defect. The refocus microscope requires a skilled operator and has been proven to be unreliable when used on Orbiter windows. White light interferometry was chosen as a candidate to replace the refocus microscope. The White Light Interferometer (WLI) was developed to replace the refocus microscope as the instrument used for measuring the depth of defects in Orbiter windows. The WLI consists of a broadband illumination source, interferometer, detector, motion control, displacement sensor, mechanical housing, and support electronics. The illumination source for the WLI is typically a visible light emitting diode (LED) or a near-infrared superluminescent diode (SLD) with power levels of less than a milliwatt. The interferometer is a Michelson configuration consisting of a 1-in. (2.5-cm) cube beam splitter, a 0.5-in. (1.3-cm) optical window as a movable leg (used to closely match the return intensity of the fixed leg from the window), and a mirrored prism to fold the optics into the mechanical housing. The detector may be one of many C-mount CCD (charge-coupled device) cameras. Motion is provided by a commercial nanostepping motor with a serial interface. The displacement sensor is a custom device specifically designed for this application. The mechanical housing and support electronics were designed to integrate the various components into an instrument that could be physically handled by a technician and easily transported.

Youngquist, Robert↗
NASA NTRS2012

Limits on the Abundance and Burial Depth of Lunar Polar Ice

The Diviner imaging radiometer experiment aboard the Lunar Reconnaissance Orbiter has revealed that surface temperatures in parts of the lunar polar regions are among the lowest in the solar system. Moreover, modeling of these Diviner data using realistic thermal conductivity profiles for lunar regolith and topography-based illumination has been done, with surprising results. Large expanses of circum-polar terrain appear to have near-subsurface temperatures well below 110K, despite receiving episodic low-angle solar illumination [Paige et al., 2010]. These subsurface cold traps could provide areally extensive reservoirs of volatiles. Here we examine the limits to abundance and burial depth of putative volatiles, based on the signature they would create for orbital thermal and epithermal neutrons. Epithermals alone are not sufficient to break the abundance-depth ambiguity, while thermal neutrons provide an independent constraint on the problem. The subsurface cold traps are so large that even modest abundances, well below that inferred from LCROSS observations, would produce readily detectable signatures in the Lunar Prospector neutron spectrometer data [Colaprete et al., 2010]. Specifically, we forward-model the thermal and epithermal neutron leakage flux that would be observed for various ice concentrations, given the depth at which ice stability begins. The LCROSS results point to a water-equivalent hydrogen abundance (WEH) in excess of 10 wt%, when all hydrogenous species are added together (except for H2, detected by LAMP on LRO [Gladstone et al., 2010]). When such an ice abundance is placed in a layer below the stability depth of Paige et al., the epithermal and thermal neutron leakage fluxes are vastly reduced and very much at odds with orbital observations. So clearly an environment that is conducive to cold trapping is necessary but not sufficient for the presence of volatiles such as water. We present the limits on the abundances that are indeed consistent with orbital data. At the LCROSS impact site itself, the data are consistent with very high ice abundances at 50-100 cm depth. However, radar results rule out these high abundances.

Elphic, Richard C.↗
NASA NTRS2012

Feasibility of Estimating Snow Depth in Complex Terrain Using Satellite Lidar Altimetry

Satellite retrievals of snow depth and water equivalent (SWE) are critical for monitoring watershed scale processes around the world. However, the problem is especially challenging in mountainous regions where complex heterogeneities limit the utility of low resolution satellite sensors. The Geoscience Laser Altimeter Sensor (GLAS) aboard the Ice, Cloud, and land Elevation Satellite (ICESat) collected surface elevation data along near-repeat reference transects over land areas from 2003-2009. Although intended for monitoring ice caps and sea ice, the seven year global GLAS data base has provided unprecedented opportunity to test the capability of satellite lidar technology for estimating snow depth over land. GLAS single track and low repeat frequency does not provide data sufficient for operational estimates. However, its comparatively small footprint size of -65 m and its database of seasonal repeat observations during both snow and no-snow conditions have been sufficient to evaluate the potential of spacebased lidar altimetry for estimating snow depth. Recent analysis of ICESat elevations in the Uinta Mountains in NE Utah provide encouraging results for watershed scale estimates of snow depth. Research reported here focuses on the sensitivity of several versions of an ICESat snow depth algorithm to a range of landscape types defined by vegetation cover, slope and roughness. Results are compared to available SNOTEL data.

Jasinski, Michael F.↗
NASA NTRS2011

Large-Scale Surveys of Snow Depth on Arctic Sea Ice from Operation IceBridge

We show the first results of a large ]scale survey of snow depth on Arctic sea ice from NASA fs Operation IceBridge snow radar system for the 2009 season and compare the data to climatological snow depth values established over the 1954.1991 time period. For multiyear ice, the mean radar derived snow depth is 33.1 cm and the corresponding mean climatological snow depth is 33.4 cm. The small mean difference suggests consistency between contemporary estimates of snow depth with the historical climatology for the multiyear ice region of the Arctic. A 16.5 cm mean difference (climatology minus radar) is observed for first year ice areas suggesting that the increasingly seasonal sea ice cover of the Arctic Ocean has led to an overall loss of snow as the region has transitioned away from a dominantly multiyear ice cover.

Kurtz, Nathan T.↗
NASA NTRS2015

Evaluation of Variable-Depth Liner Configurations for Increased Broadband Noise Reduction

This paper explores the effects of variable-depth geometry on the amount of noise reduction that can be achieved with acoustic liners. Results for two variable-depth liners tested in the NASA Langley Grazing Flow Impedance Tube demonstrate significant broadband noise reduction. An impedance prediction model is combined with two propagation codes to predict corresponding sound pressure level profiles over the length of the Grazing Flow Impedance Tube. The comparison of measured and predicted sound pressure level profiles is sufficiently favorable to support use of these tools for investigation of a number of proposed variable-depth liner configurations. Predicted sound pressure level profiles for these proposed configurations reveal a number of interesting features. Liner orientation clearly affects the sound pressure level profile over the length of the liner, but the effect on the total attenuation is less pronounced. The axial extent of attenuation at an individual frequency continues well beyond the location where the liner depth is optimally tuned to the quarter-wavelength of that frequency. The sound pressure level profile is significantly affected by the way in which variable-depth segments are distributed over the length of the liner. Given the broadband noise reduction capability for these liner configurations, further development of impedance prediction models and propagation codes specifically tuned for this application is warranted.

Jones, M. G.↗
NASA NTRS2016

Optimization of Variable-Depth Liner Configurations for Increased Broadband Noise Reduction

This paper employs three acoustic propagation codes to explore variable-depth liner configurations for the NASA Langley Grazing Flow Impedance Tube (GFIT). The initial study demonstrates that a variable impedance can acceptably be treated as a uniform impedance if the spatial extent over which this variable impedance occurs is less than one-third of a wavelength of the incident sound. A constrained optimization study is used to design a variable-depth liner and to select an optimization metric. It also provides insight regarding how much attenuation can be achieved with variable-depth liners. Another optimization study is used to design a liner with much finer chamber depth resolution for the Mach 0.0 and 0.3 test conditions. Two liners are designed based on spatial rearrangement of chambers from this liner to determine whether the order is critical. Propagation code predictions suggest this is not the case. Both liners are fabricated via additive manufacturing and tested in the GFIT for the Mach 0.0 condition. Predicted and measured attenuations compare favorably across the full frequency range. These results clearly suggest that the chambers can be arranged in any order, thus offering the potential for innovative liner designs to minimize depth and weight.

Jones, M. G.↗
NASA NTRS2017

Variable-Depth Liner Evaluation Using Two NASA Flow Ducts

Four liners are investigated experimentally via tests in the NASA Langley Grazing Flow Impedance Tube. These include an axially-segmented liner and three liners that use reordering of the chambers. Chamber reordering is shown to have a strong effect on the axial sound pressure level profiles, but a limited effect on the overall attenuation. It is also shown that bent chambers can be used to reduce the liner depth with minimal effects on the attenuation. A numerical study is also conducted to explore the effects of a planar and three higher-order mode sources based on the NASA Langley Curved Duct Test Rig geometry. A four-segment liner is designed using the NASA Langley CDL code with a Python-based optimizer. Five additional liner designs, four with rearrangements of the first liner segments and one with a redistribution of the individual chambers, are evaluated for each of the four sources. The liner configuration affects the sound pressure level profile much more than the attenuation spectra for the planar and first two higher-order mode sources, but has a much larger effect on the SPL profiles and attenuation spectra for the last higher-order mode source. Overall, axially variable-depth liners offer the potential to provide improved fan noise reduction, regardless of whether the axially variable depths are achieved via a distributed array of chambers (depths vary from chamber to chamber) or a group of zones (groups of chambers for which the depth is constant).

Jones, M. G.↗
NASA NTRS2011

Depth Perception, Cueing, and Control

Humans rely on a variety of visual cues to inform them of the depth or range of a particular object or feature. Some cues are provided by physiological mechanisms, others from pictorial cues that are interpreted psychologically, and still others by the relative motions of objects or features induced by observer (or vehicle) motions. These cues provide different levels of information (ordinal, relative, absolute) and saliency depending upon depth, task, and interaction with other cues. Display technologies used for head-down and head-up displays, as well as out-the-window displays, have differing capabilities for providing depth cueing information to the observeroperator. In addition to technologies, display content and the source (camera sensor versus computer rendering) provide varying degrees of cue information. Additionally, most displays create some degree of cue conflict. In this paper, visual depth cues and their interactions will be discussed, as well as display technology and content and related artifacts. Lastly, the role of depth cueing in performing closed-loop control tasks will be discussed.

Sweet, Barbara T.↗
NASA NTRS2017

Gaussian Mixture Models for Temporal Depth Fusion

Sensing the 3D environment of a moving robot is essential for collision avoidance. Most 3D sensors produce dense depth maps, which are subject to imperfections due to various environmental factors. Temporal fusion of depth maps is crucial to overcome those. Temporal fusion is traditionally done in 3D space with voxel data structures, but it can be approached by temporal fusion in image space, with potential benefits in reduced memory and computational cost for applications like reactive collision avoidance for micro air vehicles. In this paper, we present an efficient Gaussian Mixture Models based depth map fusion approach, introducing an online update scheme for dense representations. The environment is modeled from an ego-centric point of view, where each pixel is represented by a mixture of Gaussian inverse-depth models. Consecutive frames are related to each other by transformations obtained from visual odometry. This approach achieves better accuracy than alternative image space depth map fusion techniques at lower computational cost.

Matthies, Larry↗