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At least 73 records · Page 4

Multiclass Flight Anomaly Detection Using Sensor Fusion Based on Dempster-Shafer Theory

As aviation systems in commercial operations continue to grow in complexity, the anomalies exhibited by these systems become more elaborate and difficult to detect. To address the challenge of detecting these complex anomalies, deep learning models have been used extensively in aviation anomaly detection studies, at the expense of end-user interpretability. Aiming to maintain the same level of interpretability as traditional threshold-exceedance methods, we continue our development of prediction models using ordinal patterns and their distributions throughout the flight. Specifically, this study extends our work into multiclass anomaly detection using sensor fusion based on Dempster-Shafer theory (DST), a second-order probability theory used to combine information from different sources of evidence. Our approach uses DST toreduce the uncertainty in the class predictions of an ensemble of classifiers. These classifiers rely on the similarity between flight data and class templates to make a prediction of the state of the aircraft. Our approach aims to take advantage of simple models trained on interpretable features (ordinal patterns) to correctly predict an anomaly and identify the flight dynamics linked to the anomaly. Our results show an improvement when using DST-based sensor fusion over simple majority voting. Additionally, our results provide insight into aircraft states linked to rare high-risk anomalies.

Risk detection↗

Multiclass Flight Anomaly Detection Using Sensor Fusion Based on Dempster-Shafer Theory

As aviation systems in commercial operations continue to grow in complexity, the anomalies exhibited by these systems become more elaborate and difficult to detect. To address the challenge of detecting these complex anomalies, deep learning models have been used extensively in aviation anomaly detection studies, at the expense of end-user interpretability. Aiming to maintain the same level of interpretability as traditional threshold-exceedance methods, we continue our development of prediction models using ordinal patterns and their distributions throughout the flight. Specifically, this study extends our work into multiclass anomaly detection using sensor fusion based on Dempster-Shafer theory (DST), a second-order probability theory used to combine information from different sources of evidence. Our approach uses DST to reduce the uncertainty in the class predictions of an ensemble of classifiers. These classifiers rely on the similarity between flight data and class templates to make a prediction of the state of the aircraft. Our approach aims to take advantage of simple models trained on interpretable features (ordinal patterns) to correctly predict an anomaly and identify the flight dynamics linked to the anomaly. Our results show an improvement when using DST-based sensor fusion over simple majority voting. Additionally, our results provide insight into aircraft states linked to rare high-risk anomalies.

Risk detection↗

Conceptual Design of an MTF Space Propulsion System

Most fusion propulsion concepts that have been investigated in the past employ some form of inertial or magnetic confinement separately, and are encumbered by the need for advanced drivers (e.g. laser) or steady-state magnetic confinement systems (e.g. superconductors) that have historically resulted in large, massive spacecraft designs. Here we present a comparatively new approach, Magnetized Target Fusion (MTF), which offers a nearer-term avenue for realizing the tremendous performance benefits of fusion propulsion. MTF attempts to combine the favorable attributes of both inertially and magnetically confined fusion to achieve both efficient and low-cost compressional plasma heating and energy confinement. The key advantage of MTF is its less demanding requirements for driver energy and power processing. Additional features include: 1) very low system masses and volumes, 2) high gain and relatively low waste heat, 3) substantial utilization of energy from product neutrons, 4) efficient, low peak-power drivers based on existing pulsed power technology, and 5) very high I(sub sp), specific power and thrust. MTF overcomes many of the problems associated with traditional fusion techniques, thus making it particularly attractive for space applications. I(sub sp) greater than 50,000 seconds and specific powers greater than 20 kilowatts/kilogram appear feasible using relatively near-term pulse power and plasma gun technology.

Thio, Y. C. Francis↗

Conceptual Design of an MTF Space Propulsion System

Most fusion propulsion concepts that have been investigated in the past employ some form of inertial or magnetic confinement separately, and are encumbered by the need for advanced drivers (e.g. laser) or steady-state magnetic confinement systems (e.g. superconductors) that have historically resulted in large, massive spacecraft designs. Here we present a comparatively new approach, Magnetized Target Fusion (MTF), which offers a nearer-term avenue for realizing the tremendous performance benefits of fusion propulsion. MTF attempts to combine the favorable attributes of both inertially and magnetically confined fusion to achieve both efficient and low-cost compressional plasma heating and energy confinement. The key advantage of MTF is its less demanding requirements for driver energy and power processing. Additional features include: 1) very low system masses and volumes, 2) relatively low waste heat, 3) substantial utilization of energy from product neutrons, 4) efficient, low peak-power drivers based on existing pulsed power technology, 5) very high Isp , specific power and thrust, and 6) relatively affordable R&D pathways. MTF overcomes many of the problems associated with traditional fusion techniques, thus making it particularly attractive for space applications. Isp greater than 50,000 seconds and specific powers greater than 20 kilowatts/kilogram appear feasible using relatively near-term pulse power and plasma gun technology.

Thio, Y. C. F.↗

E-Nose Vapor Identification Based on Dempster-Shafer Fusion of Multiple Classifiers

Electronic nose (e-nose) vapor identification is an efficient approach to monitor air contaminants in space stations and shuttles in order to ensure the health and safety of astronauts. Data preprocessing (measurement denoising and feature extraction) and pattern classification are important components of an e-nose system. In this paper, a wavelet-based denoising method is applied to filter the noisy sensor measurements. Transient-state features are then extracted from the denoised sensor measurements, and are used to train multiple classifiers such as multi-layer perceptions (MLP), support vector machines (SVM), k nearest neighbor (KNN), and Parzen classifier. The Dempster-Shafer (DS) technique is used at the end to fuse the results of the multiple classifiers to get the final classification. Experimental analysis based on real vapor data shows that the wavelet denoising method can remove both random noise and outliers successfully, and the classification rate can be improved by using classifier fusion.

Li, Winston↗

Chemistry of the moon's surface

The chemical composition of the lunar surface is discussed on the basis of analyses of Apollo samples. Three new minerals, armalcolite, pyroxferroite and tranquillityite, high abundances of Ti, Zr, Sr, Y, Nb, U and Th, and a predominance of radiogenic isotopes of Pb are noted as the prominent features unraveled by sample analysis. Evidence is indicated to support the conclusion that the lunar rocks investigated are products of partial fusion and magmatic crystallization modified in much of the material by mechanical breakup and shock melting, and containing a small amount of meteoritic material. It is inferred from the results that the surface rocks are igneous in origin and that the moon has been a passive object since 3000 million years ago.

Mason, B.↗

Vision technology/algorithms for space robotics applications

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed.

Krishen, Kumar↗

Development of Laser Powder Bed Fusion NASA HR-2 for Hydrogen Sensitive Liquid Rocket Engine Applications

The National Aeronautics and Space Administration (NASA) has been involved in the development and maturation of metal additive manufacturing (AM) for space applications since the late 2000s. AM has provided new design and manufacturing opportunities to reduce cost and schedule, consolidate parts, and optimize performance. Laser Powder Bed Fusion (L-PBF) is one of the most commonly used AM processes to fabricate components of complex shape requiring fine feature resolution. Due to exposure to high-pressure gaseous hydrogen, mechanical property degradation caused by hydrogen environment embrittlement (HEE) is a critical concern for many materials in liquid hydrogen propulsion systems. NASA has identified the need to develop and advance new materials in unique engine applications using liquid hydrogen as a propellant. One such material being developed at NASA Marshall Space Flight Center is L-PBF NASA HR-2 (Hydrogen Resistant-2), a high-strength Fe-Ni-based superalloy resistant to HEE. The chemistry of NASA HR-2 was formulated to meet requirements for key liquid rocket engine (LRE) components that operate in high-pressure hydrogen environments. Initial development and material characterization found that NASA HR-2 has excellent L-PBF printability, and its microstructure evolves well after heat treatment. This new alloy has undergone fundamental metallurgical evaluations, heat treatment studies, detailed microstructure characterization, and mechanical testing across a range of temperatures. Tensile testing was performed in a pressurized gaseous hydrogen (GH2) environment to assess its resistance to HEE. L-PBF NASA HR-2 has an average yield stress of 95 ksi, an ultimate tensile stress of 165 ksi, and a very high fracture elongation of 34 - 36% when tested in a high-pressure (5 ksi) hydrogen environment. The tensile property data confirms hydrogen has little influence on HR-2’s ductility, strength, and fracture behavior. L-PBF NASA HR-2 is a promising option for many hydrogen-sensitive LRE components that require exceptional resistance to HEE. This paper will provide an overview of the L-PBF process development, material characterization, mechanical and thermophysical properties, and LRE hardware development for NASA HR-2.

Po S Chen↗

Development of Laser Powder Bed Fusion NASA HR-2 for Hydrogen Sensitive Liquid Rocket Engine Applications

The National Aeronautics and Space Administration (NASA) has been involved in the development and maturation of metal additive manufacturing (AM) for space applications since the late 2000’s. AM has provided new design and manufacturing opportunities to reduce cost and schedule, consolidate parts, and optimize performance. Laser Powder Bed Fusion (L-PBF) is one of the most commonly used AM processes to fabricate components that have complex shape and need fine feature resolution. Due to exposure to high pressure gaseous hydrogen, mechanical property degradation caused by hydrogen environment embrittlement (HEE) is a critical concern for many materials in liquid hydrogen propulsion systems. NASA has identified the need to develop and advance new materials in unique engine applications using liquid hydrogen as a propellant. One such material being developed at NASA Marshall Space Flight Center is L-PBF NASA HR-2 (Hydrogen Resistant-2), a high-strength Fe-Ni-based superalloy resistant to HEE. The chemistry of NASA HR-2 was formulated to meet requirements for key liquid rocket engine (LRE) components that operate in high-pressure hydrogen environments. Initial development and material characterization found NASA HR-2 has excellent L-PBF printability and its microstructure evolves well after heat treatment. This new alloy has undergone fundamental metallurgical evaluations, heat treatment studies, detailed microstructure characterization, and mechanical testing across a range of temperatures. Tensile testing was performed in pressurized gaseous hydrogen (GH2) environment to assess its resistance to HEE. L-PBF NASA HR-2 has an average yield stress of 95 ksi, ultimate tensile stress of 165 ksi, and very high fracture elongation at 34 - 36% when tested in a 5 ksi high pressure hydrogen environment. The tensile property data confirms hydrogen has little influence on its ductility, strength, and fracture behavior. L-PBF NASA HR-2 is a promising option for many hydrogen sensitive LRE components that require exceptional resistance to HEE. The development of L-PBF NASA HR-2 is funded under the grants provided by Jacobs TIPI program and the Liquid Engine Office at NASA Marshall Space Flight Center. This paper will provide an overview of the L-PBF process development, material characterization, mechanical and thermophysical properties, and LRE hardware development for NASA HR-2.

NASA HR-2↗

Development of Laser Powder Bed Fusion NASA HR-2 for Hydrogen Sensitive Liquid Rocket Engine Applications

The National Aeronautics and Space Administration (NASA) has been involved in the development and maturation of metal additive manufacturing (AM) for space applications since the late 2000’s. AM has provided new design and manufacturing opportunities to reduce cost and schedule, consolidate parts, and optimize performance. Laser Powder Bed Fusion (L-PBF) is one of the most commonly used AM processes to fabricate components that have complex shape and need fine feature resolution. Due to exposure to high pressure gaseous hydrogen, mechanical property degradation caused by hydrogen environment embrittlement (HEE) is a critical concern for many materials in liquid hydrogen propulsion systems. NASA has identified the need to develop and advance new materials in unique engine applications using liquid hydrogen as a propellant. One such material being developed at NASA Marshall Space Flight Center is L-PBF NASA HR-2 (Hydrogen Resistant-2), a high-strength Fe-Ni-based superalloy resistant to HEE. The chemistry of NASA HR-2 was formulated to meet requirements for key liquid rocket engine (LRE) components that operate in high-pressure hydrogen environments. Initial development and material characterization found NASA HR-2 has excellent L-PBF printability and its microstructure evolves well after heat treatment. This new alloy has undergone fundamental metallurgical evaluations, heat treatment studies, detailed microstructure characterization, and mechanical testing across a range of temperatures. Tensile testing was performed in pressurized gaseous hydrogen (GH2) environment to assess its resistance to HEE. L-PBF NASA HR-2 has an average yield stress of 95 ksi, ultimate tensile stress of 165 ksi, and very high fracture elongation at 34 - 36% when tested in a 5 ksi high pressure hydrogen environment. The tensile property data confirms hydrogen has little influence on its ductility, strength, and fracture behavior. L-PBF NASA HR-2 is a promising option for many hydrogen sensitive LRE components that require exceptional resistance to HEE. The development of L-PBF NASA HR-2 is funded under the grants provided by Jacobs TIPI program and the Liquid Engine Office at NASA Marshall Space Flight Center. This paper will provide an overview of the L-PBF process development, material characterization, mechanical and thermophysical properties, and LRE hardware development for NASA HR-2.

NASA HR-2↗

Alteration Products and Secondary Minerals in Martian Meteorite Allan Hills 84001

The martian meteorites contain alteration products and secondary minerals that are a critical part of understanding their near-surface histories on both Mars and Earth. In some martian meteorites, suspected martian preterrestrial alteration products can be distinguished from terrestrial weathering effects Using scanning electron microscopy (SEM), field emission SEM (FE-SEM), transmission electron microscopy (TEM), and energy-dispersive X-ray analysis (EDS), we are studying natural fracture surfaces of ALH 84001 chips, including samples from both the interior and the exterior of the meteorite. Exterior samples include fusion crust surfaces, which are important in determining the extent of terrestrial weathering of meteorites. The focus of this study is weathering features and secondary minerals other than the distinctive carbonate globules that continue to be studied by many researchers.

Wentworth, S. J.↗

Fully Automated Detection of Cloud and Aerosol Layers in the CALIPSO Lidar Measurements

Accurate knowledge of the vertical and horizontal extent of clouds and aerosols in the earth s atmosphere is critical in assessing the planet s radiation budget and for advancing human understanding of climate change issues. To retrieve this fundamental information from the elastic backscatter lidar data acquired during the Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO) mission, a selective, iterated boundary location (SIBYL) algorithm has been developed and deployed. SIBYL accomplishes its goals by integrating an adaptive context-sensitive profile scanner into an iterated multiresolution spatial averaging scheme. This paper provides an in-depth overview of the architecture and performance of the SIBYL algorithm. It begins with a brief review of the theory of target detection in noise-contaminated signals, and an enumeration of the practical constraints levied on the retrieval scheme by the design of the lidar hardware, the geometry of a space-based remote sensing platform, and the spatial variability of the measurement targets. Detailed descriptions are then provided for both the adaptive threshold algorithm used to detect features of interest within individual lidar profiles and the fully automated multiresolution averaging engine within which this profile scanner functions. The resulting fusion of profile scanner and averaging engine is specifically designed to optimize the trade-offs between the widely varying signal-to-noise ratio of the measurements and the disparate spatial resolutions of the detection targets. Throughout the paper, specific algorithm performance details are illustrated using examples drawn from the existing CALIPSO dataset. Overall performance is established by comparisons to existing layer height distributions obtained by other airborne and space-based lidars.

Vaughan, Mark A.↗

Predictive Sea State Estimation for Automated Ride Control and Handling - PSSEARCH

PSSEARCH provides predictive sea state estimation, coupled with closed-loop feedback control for automated ride control. It enables a manned or unmanned watercraft to determine the 3D map and sea state conditions in its vicinity in real time. Adaptive path-planning/ replanning software and a control surface management system will then use this information to choose the best settings and heading relative to the seas for the watercraft. PSSEARCH looks ahead and anticipates potential impact of waves on the boat and is used in a tight control loop to adjust trim tabs, course, and throttle settings. The software uses sensory inputs including IMU (Inertial Measurement Unit), stereo, radar, etc. to determine the sea state and wave conditions (wave height, frequency, wave direction) in the vicinity of a rapidly moving boat. This information can then be used to plot a safe path through the oncoming waves. The main issues in determining a safe path for sea surface navigation are: (1) deriving a 3D map of the surrounding environment, (2) extracting hazards and sea state surface state from the imaging sensors/map, and (3) planning a path and control surface settings that avoid the hazards, accomplish the mission navigation goals, and mitigate crew injuries from excessive heave, pitch, and roll accelerations while taking into account the dynamics of the sea surface state. The first part is solved using a wide baseline stereo system, where 3D structure is determined from two calibrated pairs of visual imagers. Once the 3D map is derived, anything above the sea surface is classified as a potential hazard and a surface analysis gives a static snapshot of the waves. Dynamics of the wave features are obtained from a frequency analysis of motion vectors derived from the orientation of the waves during a sequence of inputs. Fusion of the dynamic wave patterns with the 3D maps and the IMU outputs is used for efficient safe path planning.

Huntsberger, Terrance L.↗

Microstructural Characterization of Laser Powder Bed Fusion (L-PBF) Additively Manufactured Inconel 718 for Aerospace Application

Alloy 718 (Inconel 718) is used for aerospace applications because of its excellent corrosion resistance and mechanical properties. This alloy is particularly applicable in manufacturing components subjected to high temperatures in rocket engines, aero-engines, and gas turbines. Properties for this alloy when processing on systems from similar and different Laser Powder Bed Fusion (L-PBF) machines provide subtle differences due to process parameters, feedstock, and machine configurations. A series of sixteen L-PBF AM Inconel 718 geometric feature build plates have been evaluated for microstructure using optical microscopy. This study presents the details of the microstructure analysis concerning geometry and different machine platforms. Microstructural investigations of these samples included average grain width measurement for all the X-Y and Y-Z build layers and are accompanied by process parameters and powder characterization. The present work concludes with a discussion on the importance of captured differences among builds to understand the practical limitations among AM platforms.

Additive Manufacturing↗

GRCop-42 Development and Hot-fire Testing Using Additive Manufacturing Powder Bed Fusion for Channel-Cooled Combustion Chambers

GRCop-42 is a high conductivity, high-strength dispersion strengthened copper-alloy for use in high heat flux applications such as liquid rocket engine combustion devices. This alloy is part of the family of NASA-developed GRCop, copper-chrome-niobium alloys. GRCop alloys were developed for harsh environments specific to regeneratively-cooled combustion chambers and nozzles with good oxidation resistance. Significant development was completed on the GRCop-84 and GRCop-42 alloys in the extruded wrought form demonstrating feasibility for combustion chambers. NASA has recently developed a process for additive manufacturing, specifically Powder Bed Fusion (PBF) or Selective Laser Melting (SLM), of GRCop-42 to establish parameters, characterize the material, and complete testing of components with complex internal features. This evolution of the GRCop-42 was based on the successful predecessor development work using GRCop-84 with the motivation of establishing a new copper-alloy option for use in NASA, government, and industry programs with SLM. A few advantages have been shown with the GRCop-42 that include higher conductivity and faster build speeds over the GRCop-84, and a simplified powder supply chain. Initial property development has shown that it is possible to produce high density builds with strengths equivalent to wrought GRCop-42 and a conductivity greater than GRCop-84. The GRCop-42 has completed process development and initial properties have been established. Several demonstrator combustion chambers have also been fabricated with the SLM GRCop-42 that include integral channels and closeouts. Additional test units have been fabricated and are completing substantial hot-fire testing to demonstrate performance of the material, process, and design.

Gradl, Paul R.↗

Additive Manufacturing and Hot-Fire Testing of Bimetallic GRCop-84 and C-18150 Channel-Cooled Combustion Chambers Using Powder Bed Fusion and Inconel 625 Hybrid Directed Energy Deposition

Additive manufacturing (AM) is an advanced fabrication technique that is demonstrating tremendous potential to reduce fabrication lead times and costs for liquid rocket engine components. The additive manufacturing technology lends itself to fabricate components with complex features such as internal coolant channels in combustion chambers that would otherwise require complex manufacturing operations. A requirement for high performance engines is to use high conductivity, high strength materials such as copper-alloys for combustion chamber liners to provide adequate wall temperatures and meet subsequent structural margins. A further requirement of this configuration is to minimize weight by defining and fabricating material in discrete locations as required. NASA and Industry partner, Virgin Orbit, have been working to advance these technologies through development of bimetallic additive manufacturing techniques under a public-private partnership through NASA’s Announcement of Collaborative Opportunity (ACO). This partnership is advancing a bimetallic hybrid additively manufactured combustion chamber that integrates Powder Bed Fusion (PBF), specifically Selective Laser Melting (SLM), and Directed Energy Deposition (DED) blown powder techniques to optimize the chamber materials and subsequent assembly. The SLM process is being developed for the combustion chamber liner to use copper-alloys GRCop-84 (Copper-Chrome-Niobium) or C-18150 (Copper-Chrome-Zirconium). The hybrid DED blown powder technology is used to apply an integrated structural jacket and manifolds using an Inconel 625 superalloy on the outer surface of the SLM copper liner. The hybrid DED technology being used on this program is a DMG Mori Seiki AM machining center which integrates the DED blown powder with an integral subtractive (traditional) machining to minimize overall setups. A series of chambers were fabricated using these techniques with GRCop-84/Inconel 625 and C-18150/Inconel and hot-fire tested at NASA Marshall Space Flight Center (MSFC) in LOX/Kerosene (RP-1). This paper describes the process development to integrate these AM technologies into an integrated bimetallic assembly, the design of the chamber, results from hot-fire testing, and further development.

Gradl, Paul R.↗

Additive Manufacturing and Hot-fire Testing of Bimetallic GRCop-84 and C-18150 Channel-Cooled Combustion Chambers using Powder Bed Fusion and Inconel 625 Hybrid Directed Energy Deposition

Additive manufacturing (AM) is an advanced fabrication technique that is demonstrating tremendous potential to reduce fabrication lead times and costs for liquid rocket engine components. The additive manufacturing technology lends itself to fabricate components with complex features such as internal coolant channels in combustion chambers that would otherwise require complex manufacturing operations. A requirement for high performance engines is to use high conductivity, high strength materials such as copper-alloys for combustion chamber liners to provide adequate wall temperatures and meet subsequent structural margins. A further requirement of this configuration is to minimize weight by defining and fabricating material in discrete locations as required. NASA and Industry partner, Virgin Orbit, have been working to advance these technologies through development of bimetallic additive manufacturing techniques under a public-private partnership through NASA’s Announcement of Collaborative Opportunity (ACO). This partnership is advancing a bimetallic hybrid additively manufactured combustion chamber that integrates Powder Bed Fusion (PBF), specifically Selective Laser Melting (SLM), and Directed Energy Deposition (DED) blown powder techniques to optimize the chamber materials and subsequent assembly. The SLM process is being developed for the combustion chamber liner to use copper-alloys GRCop-84 (Copper-Chrome-Niobium) or C-18150 (Copper-Chrome-Zirconium). The hybrid DED blown powder technology is used to apply an integrated structural jacket and manifolds using an Inconel 625 superalloy on the outer surface of the SLM copper liner. The hybrid DED technology being used on this program is a DMG Mori Seiki AM machining center which integrates the DED blown powder with an integral subtractive (traditional) machining to minimize overall setups. A series of chambers were fabricated using these techniques with GRCop-84/Inconel 625 and C-18150/Inconel and hot-fire tested at NASA Marshall Space Flight Center (MSFC) in LOX/Kerosene (RP-1). This paper describes the process development to integrate these AM technologies into an integrated bimetallic assembly, the design of the chamber, results from hot-fire testing, and further development.

Gradl, Paul↗

Improved disparity map analysis through the fusion of monocular image segmentations

The focus is to examine how estimates of three dimensional scene structure, as encoded in a scene disparity map, can be improved by the analysis of the original monocular imagery. The utilization of surface illumination information is provided by the segmentation of the monocular image into fine surface patches of nearly homogeneous intensity to remove mismatches generated during stereo matching. These patches are used to guide a statistical analysis of the disparity map based on the assumption that such patches correspond closely with physical surfaces in the scene. Such a technique is quite independent of whether the initial disparity map was generated by automated area-based or feature-based stereo matching. Stereo analysis results are presented on a complex urban scene containing various man-made and natural features. This scene contains a variety of problems including low building height with respect to the stereo baseline, buildings and roads in complex terrain, and highly textured buildings and terrain. The improvements are demonstrated due to monocular fusion with a set of different region-based image segmentations. The generality of this approach to stereo analysis and its utility in the development of general three dimensional scene interpretation systems are also discussed.

Perlant, Frederic P.↗