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NASA NTRS2016

Geocam Space: Enhancing Handheld Digital Camera Imagery from the International Space Station for Research and Applications

Handheld astronaut photography of the Earth has been collected from the International Space Station (ISS) since 2000, making it the most temporally extensive remotely sensed dataset from this unique Low Earth orbital platform. Exclusive use of digital handheld cameras to perform Earth observations from the ISS began in 2004. Nadir viewing imagery is constrained by the inclined equatorial orbit of the ISS to between 51.6 degrees North and South latitude, however numerous oblique images of land surfaces above these latitudes are included in the dataset. While unmodified commercial off-the-shelf digital cameras provide only visible wavelength, three-band spectral information of limited quality current cameras used with long (400+ mm) lenses can obtain high quality spatial information approaching 2 meters/ground pixel resolution. The dataset is freely available online at the Gateway to Astronaut Photography of Earth site (http://eol.jsc.nasa.gov), and now comprises over 2 million images. Despite this extensive image catalog, use of the data for scientific research, disaster response, commercial applications and visualizations is minimal in comparison to other data collected from free-flying satellite platforms such as Landsat, Worldview, etc. This is due primarily to the lack of fully-georeferenced data products - while current digital cameras typically have integrated GPS, this does not function in the Low Earth Orbit environment. The Earth Science and Remote Sensing (ESRS) Unit at NASA Johnson Space Center provides training in Earth Science topics to ISS crews, performs daily operations and Earth observation target delivery to crews through the Crew Earth Observations (CEO) Facility on board ISS, and also catalogs digital handheld imagery acquired from orbit by manually adding descriptive metadata and determining an image geographic centerpoint using visual feature matching with other georeferenced data, e.g. Landsat, Google Earth, etc. The lack of full geolocation information native to the data makes it difficult to integrate astronaut photographs with other georeferenced data to facilitate quantitative analysis such as urban land cover/land use classification, change detection, or geologic mapping. The manual determination of image centerpoints is both time and labor-intensive, leading to delays in releasing geolocated and cataloged data to the public, such as the timely use of data for disaster response. The GeoCam Space project was funded by the ISS Program in 2015 to develop an on-orbit hardware and ground-based software system for increasing the efficiency of geolocating astronaut photographs from the ISS (Fig. 1). The Intelligent Robotics Group at NASA Ames Research Center leads the development of both the ground and on-orbit systems in collaboration with the ESRS Unit. The hardware component consists of modified smartphone elements including cameras, central processing unit, wireless Ethernet, and an inertial measurement unit (gyroscopes/accelerometers/magnetometers) reconfigured into a compact unit that attaches to the base of the current Nikon D4 camera - and its replacement, the Nikon D5 - and connects using the standard Nikon peripheral connector or USB port. This provides secondary, side and downward facing cameras perpendicular to the primary camera pointing direction. The secondary cameras observe calibration targets with known internal X, Y, and Z position affixed to the interior of the ISS to determine the camera pose corresponding to each image frame. This information is recorded by the GeoCam Space unit and indexed for correlation to the camera time recorded for each image frame. Data - image, EXIF header, and camera pose information - is transmitted to the ground software system (GeoRef) using the established Ku-band USOS downlink system. Following integration on the ground, the camera pose information provides an initial geolocation estimate for the individual film frame. This new capability represents a significant advance in geolocation from the manual feature-matching approach for both nadir and off-nadir viewing imagery. With the initial geolocation estimate, full georeferencing of an image is completed using the rapid tie-pointing interface in GeoRef, and the resulting data is added to the Gateway to Astronaut Photography of Earth online database in both Geotiff and Keyhole Markup Language (kml) formats. The integration of the GeoRef software component of Geocam Space into the CEO image cataloging workflow is complete, and disaster response imagery acquired by the ISS crew is now fully georeferenced as a standard data product. The on-orbit hardware component (GeoSens) is in final prototyping phase, and is on-schedule for launch to the ISS in late 2016. Installation and routine use of the Geocam Space system for handheld digital camera photography from the ISS is expected to significantly improve the usefulness of this unique dataset for a variety of public- and private-sector applications.

Stefanov, William L.↗
NASA NTRS1989

Knowledge-based imaging-sensor fusion system

An imaging system which applies knowledge-based technology to supervise and control both sensor hardware and computation in the imaging system is described. It includes the development of an imaging system breadboard which brings together into one system work that we and others have pursued for LaRC for several years. The goal is to combine Digital Signal Processing (DSP) with Knowledge-Based Processing and also include Neural Net processing. The system is considered a smart camera. Imagine that there is a microgravity experiment on-board Space Station Freedom with a high frame rate, high resolution camera. All the data cannot possibly be acquired from a laboratory on Earth. In fact, only a small fraction of the data will be received. Again, imagine being responsible for some experiments on Mars with the Mars Rover: the data rate is a few kilobits per second for data from several sensors and instruments. Would it not be preferable to have a smart system which would have some human knowledge and yet follow some instructions and attempt to make the best use of the limited bandwidth for transmission. The system concept, current status of the breadboard system and some recent experiments at the Mars-like Amboy Lava Fields in California are discussed.

Westrom, George↗
NASA NTRS2012

Mars Science Laboratory Engineering Cameras

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

Maki, Justin N.↗
NASA NTRS2009

Visual Target Tracking in the Presence of Unknown Observer Motion

Much attention has been given to the visual tracking problem due to its obvious uses in military surveillance. However, visual tracking is complicated by the presence of motion of the observer in addition to the target motion, especially when the image changes caused by the observer motion are large compared to those caused by the target motion. Techniques for estimating the motion of the observer based on image registration techniques and Kalman filtering are presented and simulated. With the effects of the observer motion removed, an additional phase is implemented to track individual targets. This tracking method is demonstrated on an image stream from a buoy-mounted or periscope-mounted camera, where large inter-frame displacements are present due to the wave action on the camera. This system has been shown to be effective at tracking and predicting the global position of a planar vehicle (boat) being observed from a single, out-of-plane camera. Finally, the tracking system has been extended to a multi-target scenario.

image mosaic↗
NASA NTRS2018

Fragment Size Distribution for Ice Particle Impacts on a Glass Plate

This work presents the results of an experimental study of ice particle impacts on a flat glass plate. The experiment was conducted at the Ballistics Impact Laboratory of NASA Glenn Research Center. The main objective of the experiment was to gain understanding about the modifications needed to the experimental configuration for a future parametric study at a larger range of values for particle diameters and other parameters. This was achieved by studying the effect of the velocity of an impacting ice particle on the post-impact fragment size and distribution for a reduced range of impacting particle diameters. Pre-impact particle diameter and velocity data were captured with a high-speed side camera. Post-impact fragment data were captured in a single frame with a 29-megapixel camera located above and normal to the target. Repeat runs were conducted for ice particles with diameters ranging from 1.7 to 2.9 millimeters, impacting at velocities between 39 and 98 meters per second. The fragment areas were measured, and the corresponding equivalent diameters and histogram distributions were calculated. Analysis of the data showed that the average equivalent diameter for the fragments in a run was an order of magnitude smaller than the diameter of the impacting ice particle. The histograms for equivalent diameter distribution were nonnormal with long tails, with most of the fragments having equivalent diameters concentrated toward the minimum value of the fragment size that could be resolved. Factors affecting the accuracy of the data during the digital imaging analysis were identified. Needed modifications to the setup to handle small size ice particles and other testing conditions were also identified.

engine icing↗
NASA NTRS1989

Penn State Imaging X-ray Spectrometer

The design and performance of a CCD X-ray camera developed at Penn State are described. The camera uses a frame-store CCD as the detector element. A laboratory version using a PC-based CCD controller and data-acquisition system and a thermoelectric cooler is being used for laboratory testing. This camera has been used to measure read noise of less than 1.5 e(-) with the serial clocks running backwards to suppress dark current. The energy resolution at 5.9 keV with the CCD running in its normal configuration is 120 eV. A flight version of this camera is being built to make spectrally resolved images of the Pup A SNR.

Burrows, David N.↗
NASA NTRS2007

Robotic Vision-Based Localization in an Urban Environment

A system of electronic hardware and software, now undergoing development, automatically estimates the location of a robotic land vehicle in an urban environment using a somewhat imprecise map, which has been generated in advance from aerial imagery. This system does not utilize the Global Positioning System and does not include any odometry, inertial measurement units, or any other sensors except a stereoscopic pair of black-and-white digital video cameras mounted on the vehicle. Of course, the system also includes a computer running software that processes the video image data. The software consists mostly of three components corresponding to the three major image-data-processing functions: Visual Odometry This component automatically tracks point features in the imagery and computes the relative motion of the cameras between sequential image frames. This component incorporates a modified version of a visual-odometry algorithm originally published in 1989. The algorithm selects point features, performs multiresolution area-correlation computations to match the features in stereoscopic images, tracks the features through the sequence of images, and uses the tracking results to estimate the six-degree-of-freedom motion of the camera between consecutive stereoscopic pairs of images (see figure). Urban Feature Detection and Ranging Using the same data as those processed by the visual-odometry component, this component strives to determine the three-dimensional (3D) coordinates of vertical and horizontal lines that are likely to be parts of, or close to, the exterior surfaces of buildings. The basic sequence of processes performed by this component is the following: 1. An edge-detection algorithm is applied, yielding a set of linked lists of edge pixels, a horizontal-gradient image, and a vertical-gradient image. 2. Straight-line segments of edges are extracted from the linked lists generated in step 1. Any straight-line segments longer than an arbitrary threshold (e.g., 30 pixels) are assumed to belong to buildings or other artificial objects. 3. A gradient-filter algorithm is used to test straight-line segments longer than the threshold to determine whether they represent edges of natural or artificial objects. In somewhat oversimplified terms, the test is based on the assumption that the gradient of image intensity varies little along a segment that represents the edge of an artificial object.

Mchenry, Michael↗
NASA NTRS2010

Orbital Debris Detection and Tracking Strategies for the NASA/AFRL Meter Class Autonomous Telescope (MCAT)

MCAT (Meter-Class Autonomous Telescope) is a 1.3m f/4 Ritchey-Chr tien on a double horseshoe equatorial mount that will be deployed in early 2011 to the western pacific island of Legan in the Kwajalein Atoll to perform orbital debris observations. MCAT will be capable of tracking earth orbital objects at all inclinations and at altitudes from 200 km to geosynchronous. MCAT s primary objective is the detection of new orbital debris in both low-inclination low-earth orbits (LEO) and at geosynchronous earth orbit (GEO). MCAT was thus designed with a fast focal ratio and a large unvignetted image circle able to accommodate a detector sized to yield a large field of view. The selected primary detector is a close-cycle cooled 4Kx4K 15um pixel CCD camera that yields a 0.9 degree diagonal field. For orbital debris detection in widely spaced angular rate regimes, the camera must offer low read-noise performance over a wide range of framing rates. MCAT s 4-port camera operates from 100 kHz to 1.5 MHz per port at 2 e- and 10 e- read noise respectively. This enables low-noise multi-second exposures for GEO observations as well as rapid (several frames per second) exposures for LEO. GEO observations will be performed using a counter-sidereal time delay integration (TDI) technique which NASA has used successfully in the past. For MCAT the GEO survey, detection, and follow-up prediction algorithms will be automated. These algorithms will be detailed herein. For LEO observations two methods will be employed. The first, Orbit Survey Mode (OSM), will scan specific orbital inclination and altitude regimes, detect new orbital debris objects against trailed background stars, and adjust the telescope track to follow the detected object. The second, Stare and Chase Mode (SCM), will perform a stare, then detect and track objects that enter the field of view which satisfy specific rate and brightness criteria. As with GEO, the LEO operational modes will be fully automated and will be described herein. The automation of photometric and astrometric processing (thus streamlining data collection for environmental modeling) will also be discussed.

Mulrooney, M.↗
NASA NTRS1972

Time-lapse camera for microscopy

Compact, lightweight camera which advances film frames without use of conventional sprockets and slip clutches obtains time lapse photomicrographs of human cell growth in a zero-G environment over a period of about a month.

Cook, J. E.↗
NASA NTRS1973

Photointerpretation of Skylab 2 multispectral camera (S-190A) data: Advance report of significant results

The author has identified the following significant results. A significant and possible major economic example of the practical value of Skylab photographs was provided by locating on Skylab Camera Station Number 4, frame 010, SL-2, an area of exposures of limestone rocks which were thought to be completely covered by volcanic rocks based upon prior mapping. The area is located less than 12 miles north of the Ruth porphyry copper deposit, White Pine County, Nevada. This is a major copper producing open pit mine owned by Kennecott Copper Corporation. Geophysical maps consisting of gravity and aeromagnetic studies have been published indicating three large positive magnetic anomalies located at the Ruth ore deposits, the Ward Mountain, not a mineralized area, and in the area previously thought to be completely covered by post-ore volcanics. Skylab photos indicate, however, that erosion has removed volcanic cover in specific sites sufficient to expose the underlying older rocks suggesting, therefore, that the volcanic rocks may not be the cause of the aeromagnetic anomaly. Field studies have verified the initial interpretations made from the Skylab photos. The potential significance of this study is that the large positive aeromagnetic anomaly suggests the presence of cooled and solidified magma below the anomalies, in which ore-bearing solutions may have been derived forming possible large ore deposits.

Jensen, M. L.↗
NASA NTRS1972

The data-handling problem with television recording of spectra.

A television tube is a useful way to record a many-element picture such as is obtained from an echelle spectrograph. The signal on the tube target is scanned and relayed to the data-processing center where it must be reconstituted into the scene that was present in the focal plane of the spectrograph camera. A typical television frame will contain four million bits of information which must be processed to remove transmission errors and random noise pulses, to remove periodic noise, to correct for optical and electrical distortion, to remove sensitivity variations across the face of the tube, to calibrate from the photoelectrons back to incident energy, and to provide a wavelength scale. Results of a study of these problems is presented.

Underhill, A. B.↗
NASA NTRS1973

Experimental test of plant canopy reflectance models on cotton

Spectroradiometric data on the bidirectional reflectance function was collected for a cotton canopy as a function of observer zenith angle, observer angle, and solar zenith angle. The area under study was about 40 miles from the Gulf of Mexico and the prevailing winds blew inland such that cloud formation increased during the day. The standard reflectance panel was constructed of plywood that had been spray painted with a flat white latex paint. Physical and optical plant parameters were measured. A time lapse mechanism was constructed to operate a 16 mm movie camera such that single frames could be exposed at intervals of one per second up to one per hour. Data were digitized from a strip chart recorder and reflectance panel measurements.

Lemaster, E. W.↗
NASA NTRS1974

Heightened sexual interest and sleep disturbance

The study demonstrates a behavioral effect of selective sleep disturbance in normal human subjects. Ten male subjects were selectively REM-deprived for two nights by awakening them at the onset of REM sleep. In addition, there were baseline and non-REM awakening conditions. Heightened sexual interest was defined by the number of film frames (using a Mackworth camera) in which subjects fixated on parts of the female figure in photographs. The largest mean difference in sexual interest was found between baseline and REM-deprivation. Both the non-REM awakenings and REM-sleep deprivation enhanced sexual interest. The failure to demonstrate a significant difference between REM-deprivation and non-REM awakenings may be due to the fact that subjects were REM-sleep-deprived in both conditions. It is suggested that REM-sleep loss may lead to increased selective attention and preoccupation with any cues which are usually interesting.

Zarcone, V.↗
NASA NTRS1976

Improved gravity field and station-coordinate estimates from laser tracking data

Knowledge of the long-wavelength features of the geopotential and the geocentric coordinates of satellite-tracking stations is significantly improved by the use of precision satellite tracking with lasers. Tracking data on nine satellites are combined with terrestrial gravimetry to obtain a spherical-harmonics representation of the geopotential complete through degree and order 24. Laser tracking data are used to determine the coordinates of tracking stations. This coordinate system is referred to an inertial reference frame by use of camera observations and observations of deep-space probes. Resulting geodetic parameters provide better satellite ephemerides and a reference for analyzing satellite-to-sea-surface altimetry.

Gaposchkin, E. M.↗
NASA NTRS1977

Radiance calibration of the High Altitude Observatory white-light coronagraph on Skylab

The processing of over 35,000 photographs of the solar corona obtained by the white-light coronograph on Skylab is described. Calibration of the vast amount of data was complicated by temporal effects of radiation fog and latent image loss. These effects were compensated by imaging a calibration step wedge on each data frame. Absolute calibration of the wedge was accomplished through comparison with a set of previously calibrated glass opal filters. Analysis employed average characteristic curves derived from measurements of step wedges from many frames within a given camera half-load. The net absolute accuracy of a given radiance measurement is estimated to be 20%.

Poland, A. I.↗
NASA NTRS1986

Robotic Vision for Welding

Vision system for robotic welder looks at weld along axis of welding electrode. Gives robot view of most of weld area, including yet-unwelded joint, weld pool, and completed weld bead. Protected within welding-torch body, lens and fiber bundle give robot closeup view of weld in progress. Relayed to video camera on robot manipulator frame, weld image provides data for automatic control of robot motion and welding parameters.

Richardson, R. W.↗
NASA NTRS1995

Active Flow Control: Instrumentation Automation and Experimental Technique

In investigating the potential of a new actuator for use in an active flow control system, several objectives had to be accomplished, the largest of which was the experimental setup. The work was conducted at the NASA Langley 20x28 Shear Flow Control Tunnel. The actuator named Thunder, is a high deflection piezo device recently developed at Langley Research Center. This research involved setting up the instrumentation, the lighting, the smoke, and the recording devices. The instrumentation was automated by means of a Power Macintosh running LabVIEW, a graphical instrumentation package developed by National Instruments. Routines were written to allow the tunnel conditions to be determined at a given instant at the push of a button. This included determination of tunnel pressures, speed, density, temperature, and viscosity. Other aspects of the experimental equipment included the set up of a CCD video camera with a video frame grabber, monitor, and VCR to capture the motion. A strobe light was used to highlight the smoke that was used to visualize the flow. Additional effort was put into creating a scale drawing of another tunnel on site and a limited literature search in the area of active flow control.

Gimbert, N. Wes↗
NASA NTRS2001

High-Speed Observer: Automated Streak Detection in SSME Plumes

A high frame rate digital video camera installed on test stands at Stennis Space Center has been used to capture images of Space Shuttle main engine plumes during test. These plume images are processed in real time to detect and differentiate anomalous plume events occurring during a time interval on the order of 5 msec. Such speed yields near instantaneous availability of information concerning the state of the hardware. This information can be monitored by the test conductor or by other computer systems, such as the integrated health monitoring system processors, for possible test shutdown before occurrence of a catastrophic engine failure.

Rieckoff, T. J.↗