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Bias Reduction and Filter Convergence for Long Range Stereo

We are concerned here with improving long range stereo by filtering image sequences. Traditionally, measurement errors from stereo camera systems have been approximated as 3-D Gaussians, where the mean is derived by triangulation and the covariance by linearized error propagation. However, there are two problems that arise when filtering such 3-D measurements. First, stereo triangulation suffers from a range dependent statistical bias; when filtering this leads to over-estimating the true range. Second, filtering 3-D measurements derived via linearized error propagation leads to apparent filter divergence; the estimator is biased to under-estimate range. To address the first issue, we examine the statistical behavior of stereo triangulation and show how to remove the bias by series expansion. The solution to the second problem is to filter with image coordinates as measurements instead of triangulated 3-D coordinates.

robotics↗

VERDEX: A virtual environment demonstrator for remote driving applications

One of the key areas of the National Advanced Robotics Centre's enabling technologies research program is that of the human system interface, phase 1 of which started in July 1989 and is currently addressing the potential of virtual environments to permit intuitive and natural interactions between a human operator and a remote robotic vehicle. The aim of the first 12 months of this program (to September, 1990) is to develop a virtual human-interface demonstrator for use later as a test bed for human factors experimentation. This presentation will describe the current state of development of the test bed, and will outline some human factors issues and problems for more general discussion. In brief, the virtual telepresence system for remote driving has been designed to take the following form. The human operator will be provided with a helmet-mounted stereo display assembly, facilities for speech recognition and synthesis (using the Marconi Macrospeak system), and a VPL DataGlove Model 2 unit. The vehicle to be used for the purposes of remote driving is a Cybermotion Navmaster K2A system, which will be equipped with a stereo camera and microphone pair, mounted on a motorized high-speed pan-and-tilt head incorporating a closed-loop laser ranging sensor for camera convergence control (currently under contractual development). It will be possible to relay information to and from the vehicle and sensory system via an umbilical or RF link. The aim is to develop an interactive audio-visual display system capable of presenting combined stereo TV pictures and virtual graphics windows, the latter featuring control representations appropriate for vehicle driving and interaction using a graphical 'hand,' slaved to the flex and tracking sensors of the DataGlove and an additional helmet-mounted Polhemus IsoTrack sensor. Developments planned for the virtual environment test bed include transfer of operator control between remote driving and remote manipulation, dexterous end effector integration, virtual force and tactile sensing (also the focus of a current ARRL contract, initially employing a 14-pneumatic bladder glove attachment), and sensor-driven world modeling for total virtual environment generation and operator-assistance in remote scene interrogation.

Stone, Robert J.↗

SCALPSS Project Overview

An 8-minute presentation on the Stereo CAmeras for Lunar Plume Surface Studies (SCALPSS) project, to the Lunar Surface Science Dust and Regolith Workshop on Aug. 20, 2020

plume surface interaction↗

Robotic mobile servicing platform for space station

The semi-autonomous inspection and servicing of the Space Station's major thermal, electrical, mechanical subsystems are critical needs for the safe and reliable operation of the station. A conceptual design is presented of a self-intelligent, small and highly mobile robotic platform. Equipped with suitable inspection sensors (cameras, ammonia detectors, etc.), this system's primary mission is to perform routine, autonomous inspection of the Station's primary subsystems. Typical tasks include detection of leaks from thermal fluid or refueling lines, as well as detection of micro-meteroid damage to the primary structure. Equipped with stereo cameras and a dexterous manipulator, simple teleoperator repairs and small On-orbit Replacement Unit (ORU) changeout can also be accomplished. More difficult robotic repairs would be left to the larger, more sophisticated Mobile Remote Manipulator System (MRMS). An ancillary function is to ferry crew members and equipment around the station. The primary design objectives were to provide a flexible, but uncomplicated robotic platform, one which caused minimal impact to the design of the Station's primary structure but could accept more advanced telerobotic technology as it evolves.

Lowenthal, S. H.↗

Space environment robot vision system

A prototype twin-camera stereo vision system for autonomous robots has been developed at Goddard Space Flight Center. Standard charge coupled device (CCD) imagers are interfaced with commercial frame buffers and direct memory access to a computer. The overlapping portions of the images are analyzed using photogrammetric techniques to obtain information about the position and orientation of objects in the scene. The camera head consists of two 510 x 492 x 8-bit CCD cameras mounted on individually adjustable mounts. The 16 mm efl lenses are designed for minimum geometric distortion. The cameras can be rotated in the pitch, roll, and yaw (pan angle) directions with respect to their optical axes. Calibration routines have been developed which automatically determine the lens focal lengths and pan angle between the two cameras. The calibration utilizes observations of a calibration structure with known geometry. Test results show the precision attainable is plus or minus 0.8 mm in range at 2 m distance using a camera separation of 171 mm. To demonstrate a task needed on Space Station Freedom, a target structure with a movable I beam was built. The camera head can autonomously direct actuators to dock the I-beam to another one so that they could be bolted together.

Wood, H. John↗

Onboard Stereo Vision for Drone Pursuit or Sense and Avoid

Wedescribeanew,on-board,shortrangeperceptionsystem that enables micro aerial vehicles (MAVs) to detect, track, and follow or avoid nearby drones (within 2-20 meters) in GPS-denied environments. Each vehicle is able to sense its neighborhood and adapt its motion accordingly without use of centralized reasoning or inter-vehicle communication. To enable a lightweight, low power solution, on-board stereo cameras are used for detection and tracking with depth images, while a downward-looking camera and an inertial measurement unit are used to estimate the position of the observer without use of GPS. We illustrate the robustness and accuracy of this approach through real-time, outdoor leader-follower experiments with three quadrotors. Our experiments show that state-of-art trackers are far less robust in detection against cluttered background. This demonstrates that stereo vision is a highly effective approach to perception for safe navigation of multiple MAVs in close proximity.

Matthies, Larry↗

Optical Depth Retrievals from HRSC Stereo Images

Mars Express is due to arrive in orbit around Mars during the last days of 2003. A primary task of its mission is to map Mars in stereo with the High Resolution Stereo Camera (HRSC) at a spatial resolution of up to 12 m. The Martian atmosphere contains large amounts of dust and other aerosols that scatter light and influence the images. Therefore, image analysis requires careful consideration of these atmospheric effects. An essential parameter to consider is the optical depth. It will be possible to map the optical depth of the Martian atmosphere from HRSC stereo images by analyzing contrast differences. Software to this purpose has been developed at the Max-Planck Institute for Aeronomy in Lindau Germany. We present examples of optical depth-retrievals from airborne HRSC-A images of a region in the French Alps.

N M Hoekzema↗

Dig Hazard Assessment Using a Stereo Pair of Cameras

This software evaluates the terrain within reach of a lander s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth. Onboard dig hazard assessment is accomplished by executing a workspace panorama command sequence. This sequence acquires a set of stereo pairs of images of the terrain the arm can reach, generates a set of candidate dig sectors, and assesses the dig hazard of each candidate dig sector. The 3D perimeter points of candidate dig sectors are generated using configurable parameters. A 3D reconstruction of the terrain in front of the lander is generated using a set of stereo images acquired from the mast cameras. The 3D reconstruction is used to evaluate the dig goodness of each candidate dig sector based on a set of eight metrics. The eight metrics are: 1. The maximum change in elevation in each sector, 2. The elevation standard deviation in each sector, 3. The forward tilt of each sector with respect to the payload frame, 4. The side tilt of each sector with respect to the payload frame, 5. The maximum size of missing data regions in each sector, 6. The percentage of a sector that has missing data, 7. The roughness of each sector, and 8. Monochrome intensity standard deviation of each sector. Each of the eight metrics forms a goodness image layer where the goodness value of each sector ranges from 0 to 1. Goodness values of 0 and 1 correspond to high and low risk, respectively. For each dig sector, the eight goodness values are merged by selecting the lowest one. Including the merged goodness image layer, there are nine goodness image layers for each stereo pair of mast images.

Rankin, Arturo L.↗

Icing flight research: Aerodynamic effects of ice and ice shape documentation with stereo photography

Aircraft icing flight research was performed in natural icing conditions. A data base consisting of icing cloud measurements, ice shapes, and aerodynamic measurements is being developed. During research icing encounters the icing cloud was continuously measured. After the encounter, the ice accretion shapes on the wing were documented with a stereo camera system. The increase in wing section drag was measured with a wake survey probe. The overall aircraft performance loss in terms of lift and drag coefficient changes was obtained by steady level speed/power measurements. Selective deicing of the airframe components was performed to determine their contributions to the total drag increase. Engine out capability in terms of power available was analyzed for the iced aircraft. It was shown that the stereo photography system can be used to document ice shapes in flight and that the wake survey probe can measure increases in wing section drag caused by ice. On one flight, the wing section drag coefficient (c sub d) increased approximately 120 percent over the uniced baseline at an aircraft angle of attack of 6 deg. On another flight, the aircraft darg coefficient (c sub d) increased by 75 percent over the uniced baseline at an aircraft lift coefficient (C sub d) of 0.5.

Mikkelsen, K. L.↗

Icing flight research - Aerodynamic effects of ice and ice shape documentation with stereo photography

Aircraft icing flight research was performed in natural icing conditions. A data base consisting of icing cloud measurements, ice shapes, and aerodynamic measurements is being developed. During research icing encounters the icing cloud was continuously measured. After the encounter, the ice accretion shapes on the wing were documented with a stereo camera system. The increase in wing section drag was measured with a wake survey probe. The overall aircraft performance loss in terms of lift and drag coefficient changes were obtained by steady level speed/power measurements. Selective deicing of the airframe components was performed to determine their contributions to the total drag increase. Engine out capability in terms of power available was analyzed for the iced aircraft. It was shown that the stereo photography system can be used to document ice shapes in flight and that the wake survey probe can measure increases in wing section drag caused by ice. On one flight, the wing section drag coefficient (c sub d) increased approximately 120 percent over the uniced baseline at an aircraft angle of attack of 6 deg. On another flight, the aircraft drag coefficient (c sub d) increased by 75 percent over the uniced baseline at an aircraft lift coefficient (c sub d) of 0.5.

Mikkelsen, K. L.↗

Hand-Eye Calibration Using Active Vision

The project described in this paper designed and implemented a hand-eye calibration method for manipulators under observation by stereo cameras. This method has been utilized on Johnson Space Center's Robonaut, and on a planetary manipulator mock-up at the Jet Propulsion Laboratory. The intent of this calibration is to improve the manipulator's hand-eye coordination.

manipulation↗

Planar Particle Imaging Doppler Velocimetry Developed

Two current techniques exist for the measurement of planar, three-component velocity fields. Both techniques require multiple views of the illumination plane in order to extract all three velocity components. Particle image velocimetry (PIV) is a high-resolution, high accuracy, planar velocimetry technique that provides valuable instantaneous velocity information in aeropropulsion test facilities. PIV can provide three-component flow-field measurements using a two-camera, stereo viewing configuration. Doppler global velocimetry (DGV) is another planar velocimetry technique that can provide three component flow-field measurements; however, it requires three detector systems that must be located at oblique angles from the measurement plane. The three-dimensional configurations of either technique require multiple (DGV) or at least large (stereo PIV) optical access ports in the facility in which the measurements are being conducted. Optical access is extremely limited in aeropropulsion test facilities. In many cases, only one optical access port is available. A hybrid measurement technique has been developed at the NASA Glenn Research Center, planar particle image and Doppler velocimetry (PPIDV), which combines elements from both the PIV and DGV techniques into a single detection system that can measure all three components of velocity across a planar region of a flow field through a single optical access port. In the standard PIV technique, a pulsed laser is used to illuminate the flow field at two closely spaced instances in time, which are recorded on a "frame-straddling" camera, yielding a pair of single-exposure image frames. The PIV camera is oriented perpendicular to the light sheet, and the processed PIV data yield the two-component velocity field in the plane of the light sheet. In the standard DGV technique, an injection-seeded Nd:YAG pulsed laser light sheet illuminates the seeded flow field, and three receiver systems are used to measure three components of velocity. The receiver systems are oriented at oblique angles to the light sheet in order to accurately resolve the three-component velocity. Each DGV receiver system contains two cameras, which share a common view of the illuminated flow through a beam-splitting cube. One camera views the illuminated flow directly (reference camera) and the second camera images the illuminated flow through an iodine vapor cell (signal camera). The laser frequency (wavelength) is adjusted so that the Doppler-shifted light from particles in the flow falls on an iodine absorption feature, see the following graph. The iodine vapor cell acts as a frequency-to-velocity filter by modulating the intensity of the transmitted light as a function of the flow velocity (Doppler shift). The ratio of the signal and reference images yields the component of the flow velocity along the bisector of the laser sheet propagation direction and the receiver system observation direction. The hybrid system employs a single-component DGV receiver system configured to simultaneously acquire PIV image data, as shown in the following diagram. The cameras used in the DGV receiver are replaced with PIV frame-straddling cameras, and the receiver system views the illuminated light sheet plane at 90 (as in the standard PIV configuration).

Wernet, Mark P.↗

Lunar and Planetary Science XXXVI, Part 14

Contents include the following: Destruction of Presolar Silicates by Aqueous Alteration Observed in Murchison CM2 Chondrite. Generation of Chondrule Forming Shock Waves in Solar Nebula by X-Ray Flares. TEM and NanoSIMS Study of Hydrated/Anhydrous Phase Mixed IDPs: Cometary or Asteroidal Origin? Inflight Calibration of Asteroid Multiband Imaging Camera Onboard Hayabusa: Preliminary Results. Corundum and Corundum-Hibonite Grains Discovered by Cathodoluminescence in the Matrix of Acfer 094 Meteorite. Spatial Extent of a Deep Moonquake Nest A Preliminary Report of Reexamination. Modal Abundances of Carbon in Ureilites: Implications for the Petrogenesis of Ureilites. Trapped Noble Gas Components and Exposure History of the Enstatite Chondrite ALH84206. Deep-seated Crustal Material in Dhofar Lunar Meteorites: Evidence from Pyroxene Chemistry. Numerical Investigations of Kuiper Belt Binaries. Dust Devils on Mars: Effects of Surface Roughness on Particle Threshold. Hecates Tholus, Mars: Nighttime Aeolian Activity Suggested by Thermal Images and Mesoscale Atmospheric Model Simulations. Are the Apollo 14 High-Al Basalts Really Impact Melts? Garnet in the Lunar Mantle: Further Evidence from Volcanic Glass Beads. The Earth/Mars Dichotomy in Mg/Si and Al/Si Ratios: Is It Real? Dissecting the Polar Asymmetry in the Non-Condensable Gas Enhancement on Mars: A Numerical Modeling Study. Cassini VIMS Preliminary Exploration of Titan s Surface Hemispheric Albedo Dichotomy. An Improved Instrument for Investigating Planetary Regolith Microstructure. Isotopic Composition of Oxygen in Lunar Zircons Preliminary Design of Visualization Tool for Hayabusa Operation. Size and Shape Distributions of Chondrules and Metal Grains Revealed by X-Ray Computed Tomography Data. Properties of Permanently Shadowed Regolith. Landslides in Interior Layered Deposits, Valles Marineris, Mars: Effects of Water and Ground Shaking on Slope Stability. Mars: Recent and Episodic Volcanic, Hydrothermal, and Glacial Activity Revealed by Mars Express High Resolution Stereo Camera (HRSC). The Cratering Record of the Saturnian Satellites Phoebe, Tethys, Dione and Iapetus in Comparison: First Results from Analysis of the Cassini ISS Imaging Data. Joint Crossover Solutions of Altimetry and Image Data on 433 Eros. The Martian Soil as a Geochemical Sink for.

Source record↗

Summertime Continental Shallow Cumulus Cloud Detection Using GOES‐16 Satellite and Ground‐Based Ceilometer at North Alabama

Abstract Accurate simulations of boundary layer cloud processes remain challenging in Earth system modeling. Observations are essential to evaluate and improve models of such processes. This study introduces a comprehensive validation framework for a satellite‐based detection algorithm of continental shallow cumulus (ShCu) clouds during the daytime, which was initially developed using ground‐based observations of stereo cameras at the Department of Energy Atmospheric Radiation Measurement (ARM) Southern Great Plains site (J. Tian et al., 2021, https://doi.org/10.3390/rs13122309 , 2022, https://doi.org/10.1029/2021gl097070 ). To validate this algorithm, the framework employs ground‐based ceilometer measurements from North Alabama (NA) where ShCu populations are prevalent. This study first generates clear‐sky surface reflectance maps at NA and identifies ShCu pixels with a detection threshold using Geostationary Operational Environmental Satellite (GOES) reflectance data. The obtained cloud fractions (CFs) are then compared against CFs from a ground‐based ceilometer, considering factors such as observed area differences, satellite parallax issue, and systematic biases. We found that with a detection threshold (∆R) of 0.05, the ShCu detection algorithm is effective for NA, enabling the reproduction of hourly ShCu CFs using GOES. Our framework is straightforward and easily repeatable to evaluate the effectiveness of a ∆R threshold for detecting ShCu clouds in various geographic regions where ceilometers are deployed. This satellite detection of ShCu provides a crucial regional context for ground‐based measurements, facilitating the tracking of convection initiation and its coupling with land surface conditions. Integrating localized ground‐based and regional satellite data will enhance our ability to conduct thorough studies of cloud morphology and land‐atmosphere interactions in North Alabama.

54 ENVIRONMENTAL SCIENCES↗

Use of Integrated Instrumentation to Detect and Classify Targets in Shallow Water

The detection and classification of targets in shallow water environments (e.g., depth < 20 m) is of increasing interest, both in security applications and more general environmental studies. Here, we report the ability of a cabled integrated instrumentation system to detect and classify targets in a shallow (15 m deep), narrow (150 m wide) channel influenced by moderate tidal currents (peak currents < 2 m/s). The instrumentation system incorporates a passive acoustic array, multibeam sonar, acoustic camera, stereo-optical camera, and acoustic Doppler current profiler. The system effectiveness is benchmarked using autonomous “cooperative” targets (e.g., drifters with known position and acoustic characteristics), divers, and opportunistic observations of fish and marine mammals. By fusing data streams from multiple sensors, detection and classification rates are improved, particularly for smaller targets. Approaches to data management (data rates exceed 80 MB/s), real-time classification, and de-noising of acoustic imagery are also discussed.

16 TIDAL AND WAVE POWER↗

On the Life Cycle of a Shallow Cumulus Cloud: Is It a Bubble or Plume, Active or Forced?

Abstract A cloud’s life cycle determines how its mass flux translates into cloud cover, thereby setting Earth’s albedo. Here, an attempt is made to quantify the most basic aspects of the life cycle of a shallow cumulus cloud: the degree to which it is a bubble or a plume, and active or forced. Quantitative measures are proposed for these properties, which are then applied to hundreds of shallow cumulus clouds in Oklahoma using data from stereo cameras, a Doppler lidar, and large-eddy simulations. The observed clouds are intermediate between active and forced, but behave more like bubbles than plumes. The simulated clouds, on the other hand, are more active and plumelike, suggesting room for improvement in the modeling of shallow cumulus.

54 ENVIRONMENTAL SCIENCES↗

Benchmark Modeling of the Near-Field and Far-Field Wave Effects of Wave Energy Arrays

This project is an industry-led partnership between Columbia Power Technologies and Oregon State University that will perform benchmark laboratory experiments and numerical modeling of the near-field and far-field impacts of wave scattering from an array of wave energy devices. These benchmark experimental observations will help to fill a gaping hole in our present knowledge of the near-field effects of multiple, floating wave energy converters and are a critical requirement for estimating the potential far-field environmental effects of wave energy arrays. The experiments will be performed at the Hinsdale Wave Research Laboratory (Oregon State University) and will utilize an array of newly developed Buoys' that are realistic, lab-scale floating power converters. The array of Buoys will be subjected to realistic, directional wave forcing (1:33 scale) that will approximate the expected conditions (waves and water depths) to be found off the Central Oregon Coast. Experimental observations will include comprehensive in-situ wave and current measurements as well as a suite of novel optical measurements. These new optical capabilities will include imaging of the 3D wave scattering using a binocular stereo camera system, as well as 3D device motion tracking using a newly acquired LED system. These observing systems will capture the 3D motion history of individual Buoys as well as resolve the 3D scattered wave field; thus resolving the constructive and destructive wave interference patterns produced by the array at high resolution. These data combined with the device motion tracking will provide necessary information for array design in order to balance array performance with the mitigation of far-field impacts. As a benchmark data set, these data will be an important resource for testing of models for wave/buoy interactions, buoy performance, and far-field effects on wave and current patterns due to the presence of arrays. Under the proposed project we will initiate high-resolution (fine scale, very near-field) fluid/structure interaction simulations of buoy motions, as well as array-scale, phase-resolving wave scattering simulations. These modeling efforts will utilize state-of-the-art research quality models, which have not yet been brought to bear on this complex problem of large array wave/structure interaction problem.

16 TIDAL AND WAVE POWER↗

Market Survey of Airborne Small Unmanned Aircraft System Sensors February 2020

Sensors continue to decrease in size and power. This report presents results of a market survey conducted in February 2020 for commercial off-the-self sensors with optimal size, weight, and power to be carried onboard a small unmanned aircraft system. For this report, Sandia National Laboratories considered sensors that can detect an object in three dimensions. The sensors that were researched are broken into three categories: radio detection and ranging sensors, stereo camera sensors, and light detection and ranging sensors.

47 OTHER INSTRUMENTATION↗