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NASA NTRS2001

Obstacle Detection Algorithms for Rotorcraft Navigation

In this research we addressed the problem of obstacle detection for low altitude rotorcraft flight. In particular, the problem of detecting thin wires in the presence of image clutter and noise was studied. Wires present a serious hazard to rotorcrafts. Since they are very thin, their detection early enough so that the pilot has enough time to take evasive action is difficult, as their images can be less than one or two pixels wide. After reviewing the line detection literature, an algorithm for sub-pixel edge detection proposed by Steger was identified as having good potential to solve the considered task. The algorithm was tested using a set of images synthetically generated by combining real outdoor images with computer generated wire images. The performance of the algorithm was evaluated both, at the pixel and the wire levels. It was observed that the algorithm performs well, provided that the wires are not too thin (or distant) and that some post processing is performed to remove false alarms due to clutter.

Kasturi, Rangachar↗
NASA NTRS1995

Bringing "Scientific Expeditions" Into the Schools

Two new technologies, the FASTexpedition and Remote FAST, have been developed that provide remote, 3D, high resolution, dynamic, interactive viewing of scientific data (such as simulations or measurements of fluid dynamics). The FASTexpedition permits one to access scientific data from the World Wide Web, take guided expeditions through the data, and continue with self controlled expeditions through the data. Remote FAST permits collaborators at remote sites to simultaneously view an analysis of scientific data being controlled by one of the collaborators. Control can be transferred between sites. These technologies are now being used for remote collaboration in joint university, industry, and NASA projects in computational fluid dynamics (CFD) and wind tunnel testing. Also, NASA Ames Research Center has initiated a project to make scientific data and guided expeditions through the data available as FASTexpeditions on the World Wide Web for educational purposes. Previously, remote visualiZation of dynamic data was done using video format (transmitting pixel information) such as video conferencing or MPEG movies on the Internet. The concept for this new technology is to send the raw data (e.g., grids, vectors, and scalars) along with viewing scripts over the Internet and have the pixels generated by a visualization tool running on the viewer's local workstation. The visualization tool that is currently used is FAST (Flow Analysis Software Toolkit). The advantages of this new technology over using video format are: 1. The visual is much higher in resolution (1280xl024 pixels with 24 bits of color) than typical video format transmitted over the network. 2. The form of the visualization can be controlled interactively (because the viewer is interactively controlling the visualization tool running on his workstation). 3. A rich variety of guided expeditions through the data can be included easily. 4. A capability is provided for other sites to see a visual analysis of one site as the analysis is interactively performed. Control of the analysis can be passed from site to site. 5. The scenes can be viewed in 3D using stereo vision. 6. The network bandwidth used for the visualization using this new technology is much smaller than when using video format. (The measured peak bandwidth used was 1 Kbit/sec whereas the measured bandwidth for a small video picture was 500 Kbits/sec.)

Watson, Val↗
NASA NTRS1996

Fast 3D Net Expeditions: Tools for Effective Scientific Collaboration on the World Wide Web

Two new technologies, the FASTexpedition and Remote FAST, have been developed that provide remote, 3D (three dimensional), high resolution, dynamic, interactive viewing of scientific data. The FASTexpedition permits one to access scientific data from the World Wide Web, take guided expeditions through the data, and continue with self controlled expeditions through the data. Remote FAST permits collaborators at remote sites to simultaneously view an analysis of scientific data being controlled by one of the collaborators. Control can be transferred between sites. These technologies are now being used for remote collaboration in joint university, industry, and NASA projects. Also, NASA Ames Research Center has initiated a project to make scientific data and guided expeditions through the data available as FASTexpeditions on the World Wide Web for educational purposes. Previously, remote visualization of dynamic data was done using video format (transmitting pixel information) such as video conferencing or MPEG (Motion Picture Expert Group) movies on the Internet. The concept for this new technology is to send the raw data (e.g., grids, vectors, and scalars) along with viewing scripts over the Internet and have the pixels generated by a visualization tool running on the viewers local workstation. The visualization tool that is currently used is FAST (Flow Analysis Software Toolkit). The advantages of this new technology over using video format are: (1) The visual is much higher in resolution (1280x1024 pixels with 24 bits of color) than typical video format transmitted over the network. (2) The form of the visualization can be controlled interactively (because the viewer is interactively controlling the visualization tool running on his workstation). (3) A rich variety of guided expeditions through the data can be included easily. (4) A capability is provided for other sites to see a visual analysis of one site as the analysis is interactively performed. Control of the analysis can be passed from site to site. (5) The scenes can be viewed in 3D using stereo vision. (6) The network bandwidth for the visualization using this new technology is much smaller than when using video format. (The measured peak bandwidth used was 1 Kbit/sec whereas the measured bandwidth for a small video picture was 500 Kbits/sec.) This talk will illustrate the use of these new technologies and present a proposal for using these technologies to improve science education.

Watson, Val↗
NASA NTRS2001

Spectral Dimensionality and Scale of Urban Radiance

Characterization of urban radiance and reflectance is important for understanding the effects of solar energy flux on the urban environment as well as for satellite mapping of urban settlement patterns. Spectral mixture analyses of Landsat and Ikonos imagery suggest that the urban radiance field can very often be described with combinations of three or four spectral endmembers. Dimensionality estimates of Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) radiance measurements of urban areas reveal the existence of 30 to 60 spectral dimensions. The extent to which broadband imagery collected by operational satellites can represent the higher dimensional mixing space is a function of both the spatial and spectral resolution of the sensor. AVIRIS imagery offers the spatial and spectral resolution necessary to investigate the scale dependence of the spectral dimensionality. Dimensionality estimates derived from Minimum Noise Fraction (MNF) eigenvalue distributions show a distinct scale dependence for AVIRIS radiance measurements of Milpitas, California. Apparent dimensionality diminishes from almost 40 to less than 10 spectral dimensions between scales of 8000 m and 300 m. The 10 to 30 m scale of most features in urban mosaics results in substantial spectral mixing at the 20 m scale of high altitude AVIRIS pixels. Much of the variance at pixel scales is therefore likely to result from actual differences in surface reflectance at pixel scales. Spatial smoothing and spectral subsampling of AVIRIS spectra both result in substantial loss of information and reduction of apparent dimensionality, but the primary spectral endmembers in all cases are analogous to those found in global analyses of Landsat and Ikonos imagery of other urban areas.

Small, Christopher↗
NASA NTRS1997

Statistical Models of Areal Distribution of Fragmented Land Cover Types

Imagery of coarse resolution, such weather satellite imagery with 1 square kilometer pixels, is increasingly used to monitor dynamic and fragmented types of land surface types, such as scars from recent fires and ponds in wetlands. Accurate estimates of these land cover types at regional to global scales are required to assess the roles of fires and wetlands in global warming, yet difficult to compute when much of the area is accounted for by fragments about the same size as the pixels. In previous research, we found that size distribution of the fragments in several example scenes fit simple two-parameter models and related effects of coarse resolution to errors in area estimates based on pixel counts. We summarize our model based approach to improved area estimations and report on progress to develop accurate areas estimates based on modeling the size distribution of the fragments, including analysis of size distributions on an expanded set of maps developed from digital imagery.

Hlavka, C.↗
NASA NTRS1998

Fragmented Land Cover Types and Estimation of Area with Course Spatial Resolution Imagery

Imagery of coarse resolution, such weather satellite imagery with 1 sq km pixels, is increasingly used to monitor dynamic and fragmented types of land surface types, such as scars from recent fires and ponds in wetlands. Accurate estimates of these land cover types at regional to global scales are required to assess the roles of fires and wetlands in global warming, yet difficult to compute when much of the area is accounted for by fragments about the same size as the pixels. In previous research, we found that size distribution of the fragments in several example scenes fit simple two-parameter models and related effects of coarse resolution to errors in area estimates based on pixel counts. We report on progress to develop accurate area estimates based on modelling the size distribution of the fragments, including analysis of size distributions on an expanded set of maps developed from digital imagery and a test of a procedure to correct for effects of coarse spatial resolution.

Hlavka, Chris↗
NASA NTRS2002

Development of High Resolution Mirrors and Cd-Zn-Te Detectors for Hard X-ray Astronomy

We describe the fabrication and implementation of a high-resolution conical, grazing- incidence, hard X-ray (20-70 keV) telescope. When flown aboard stratospheric balloons, these mirrors are used to image cosmic sources such as supernovae, neutron stars, and quasars. The fabrication process involves generating super-polished mandrels, mirror shell electroforming, and mirror testing. The cylindrical mandrels consist of two conical segments; each segment is approximately 305 mm long. These mandrels are first, precision ground to within approx. 1.0 micron straightness along each conical segment and then lapped and polished to less than 0.5 micron straightness. Each mandrel segment is the super-polished to an average surface roughness of approx. 3.25 angstrom rms. By mirror shell replication, this combination of good figure and low surface roughness has enabled us to achieve 15 arcsec, confirmed by X-ray measurements in the Marshall Space Flight Center 102 meter test facility. To image the focused X-rays requires a focal plane detector with appropriate spatial resolution. For 15 arcsec optics of 6 meter focal length, this resolution must be around 200 microns. In addition, the detector must have a high efficiency, relatively high energy resolution, and low background. We are currently developing Cadmium-Zinc-Telluride fine-pixel detectors for this purpose. The detectors under study consist of a 16x16 pixel array with a pixel pitch of 300 microns and are 1 mm and 2 mm thick. At 60 keV, the measured energy resolution is around 2%.

Ramsey, Brian D.↗
NASA NTRS2003

Effect of Clouds on Apertures of Space-based Air Fluorescence Detectors

Space-based ultra-high-energy cosmic ray detectors observe fluorescence light from extensive air showers produced by these particles in the troposphere. Clouds can scatter and absorb this light and produce systematic errors in energy determination and spectrum normalization. We study the possibility of using IR remote sensing data from MODIS and GOES satellites to delimit clear areas of the atmosphere. The efficiency for detecting ultra-high-energy cosmic rays whose showers do not intersect clouds is determined for real, night-time cloud scenes. We use the MODIS SST cloud mask product to define clear pixels for cloud scenes along the equator and use the OWL Monte Carlo to generate showers in the cloud scenes. We find the efficiency for cloud-free showers with closest approach of three pixels to a cloudy pixel is 6.5% exclusive of other factors. We conclude that defining a totally cloud-free aperture reduces the sensitivity of space-based fluorescence detectors to unacceptably small levels.

Sokolsky, P.↗
NASA NTRS2002

Optimal Extraction with Sub-sampled Line-Spread Functions

STIS long-slit medium resolution spectra reduced in CALSTIS extended-source mode with narrow extraction heights (GWIDTH=3 pixels) show photometric uncertainties of +/- 3% relative to point-source extractions. These uncertainties are introduced through interpolation in the spectral image rectification processing stage, and are correlated with the number of pixel crossings the spectral profile core encounters in the spatial direction. The line-spread-function may be determined as a function of pixel crossing- position from calibration data sub-sampled in the spatial direction. This line spread function will be applied to science data to perform optimal extractions and point- source de-blending. Wavelength and breathing effects will be studied. Viability of the method to de-convolve extended source 'blobs' will be investigated.

Collins, Nicholas R.↗
NASA NTRS2003

Multi-Decadal Pathfinder Data Sets of Global Land Biophysical Variables from AVHRR and MODIS and their Use in GCM Studies of Biogeophysics and Biogeochemistry

The problem of how the scale, or spatial resolution, of reflectance data impacts retrievals of vegetation leaf area index (LAI) and fraction absorbed photosynthetically active radiation (PAR) has been investigated. We define the goal of scaling as the process by which it is established that LAI and FPAR values derived from coarse resolution sensor data equal the arithmetic average of values derived independently from fine resolution sensor data. The increasing probability of land cover mixtures with decreasing resolution is defined as heterogeneity, which is a key concept in scaling studies. The effect of pixel heterogeneity on spectral reflectances and LAI/FPAR retrievals is investigated with 1 km Advanced Very High Resolution Radiometer (AVHRR) data aggregated to different coarse spatial resolutions. It is shown that LAI retrieval errors at coarse resolution are inversely related to the proportion of the dominant land cover in such pixel. Further, large errors in LAI retrievals are incurred when forests are minority biomes in non-forest pixels compared to when forest biomes are mixed with one another, and vice-versa. A physically based technique for scaling with explicit spatial resolution dependent radiative transfer formulation is developed. The successful application of this theory to scaling LAI retrievals from AVHRR data of different resolutions is demonstrated

Myneni, Ranga↗
NASA NTRS2003

High Sensitivity Long-Wavelength Infrared QWIP Focal Plane Array Based Instrument for Remote Sensing of Icy Satellites

GaAs based Quantum Well Infrared Photodetector (QWIP) technology has shown remarkable success in advancing low cost, highly uniform, high-operability, large format multi-color focal plane arrays. QWIPs afford greater flexibility than the usual extrinsically doped semiconductor IR detectors. The wavelength of the peak response and cutoff can be continuously tailored over a range wide enough to enable light detection at any wavelength range between 6 and 20 micron. The spectral band-width of these detectors can be tuned from narrow (Deltalambda/lambda is approximately 10%) to wide (Deltalambda/lambda is approximately 40%) allowing various applications. Furthermore, QWIPs offer low cost per pixel and highly uniform large format focal plane arrays due to mature GaAs/AlGaAs growth and processing technologies. The other advantages of GaAs/AlGaAs based QWIPS are higher yield, lower l/f noise and radiation hardness (1.5 Mrad). In this presentation, we will discuss our recent demonstrations of 640x512 pixel narrow-band, broad-band, multi-band focal plane arrays, and the current status of the development of 1024x1024 pixel long-wavelength infrared QWIP focal plane arrays.

Gunapala, S.↗
NASA NTRS2003

Polar Dunes Resolved by the Mars Orbiter Laser Altimeter Gridded Topography and Pulse Widths

The Mars Orbiter Laser Altimeter (MOLA) polar data have been refined to the extent that many features poorly imaged by Viking Orbiters are now resolved in densely gridded altimetry. Individual linear polar dunes with spacings of 0.5 km or more can be seen as well as sparsely distributed and partially mantled dunes. The refined altimetry will enable measurements of the extent and possibly volume of the north polar ergs. MOLA pulse widths have been recalibrated using inflight data, and a robust algorithm applied to solve for the surface optical impulse response. It shows the surface root-mean-square (RMS) roughness at the 75-m-diameter MOLA footprint scale, together with a geological map. While the roughness is of vital interest for landing site safety studies, a variety of geomorphological studies may also be performed. Pulse widths corrected for regional slope clearly delineate the extent of the polar dunes. The MOLA PEDR profile data have now been re-released in their entirety (Version L). The final Mission Experiment Gridded Data Records (MEGDR's) are now provided at up to 128 pixels per degree globally. Densities as high as 512 pixels per degree are available in a polar stereographic projection. A large computational effort has been expended in improving the accuracy of the MOLA altimetry themselves, both in improved orbital modeling and in after-the-fact adjustment of tracks to improve their registration at crossovers. The current release adopts the IAU2000 rotation model and cartographic frame recommended by the Mars Cartography Working Group. Adoption of the current standard will allow registration of images and profiles globally with an uncertainty of less than 100 m. The MOLA detector is still operational and is currently collecting radiometric data at 1064 nm. Seasonal images of the reflectivity of the polar caps can be generated with a resolution of about 300 m per pixel.

Gregory A Neumann↗
NASA NTRS2003

Parallel Information Processing (Image Transmission Via Fiber Bundle and Multimode Fiber

Growing demand for visual, user-friendly representation of information inspires search for the new methods of image transmission. Currently used in-series (sequential) methods of information processing are inherently slow and are designed mainly for transmission of one or two dimensional arrays of data. Conventional transmission of data by fibers requires many fibers with array of laser diodes and photodetectors. In practice, fiber bundles are also used for transmission of images. Image is formed on the fiber-optic bundle entrance surface and each fiber transmits the incident image to the exit surface. Since the fibers do not preserve phase, only 2D intensity distribution can be transmitted in this way. Each single mode fiber transmit only one pixel of an image. Multimode fibers may be also used, so that each mode represent different pixel element. Direct transmission of image through multimode fiber is hindered by the mode scrambling and phase randomization. To overcome these obstacles wavelength and time-division multiplexing have been used, with each pixel transmitted on a separate wavelength or time interval. Phase-conjugate techniques also was tested in, but only in the unpractical scheme when reconstructed image return back to the fiber input end. Another method of three-dimensional imaging over single mode fibers was demonstrated in, using laser light of reduced spatial coherence. Coherence encoding, needed for a transmission of images by this methods, was realized with grating interferometer or with the help of an acousto-optic deflector. We suggest simple practical holographic method of image transmission over single multimode fiber or over fiber bundle with coherent light using filtering by holographic optical elements. Originally this method was successfully tested for the single multimode fiber. In this research we have modified holographic method for transmission of laser illuminated images over commercially available fiber bundle (fiber endoscope, or fiberscope).

Kukhtarev, Nicholai↗
NASA NTRS2003

Concentration and Velocity Gradients in Fluidized Beds

In this work we focus on the height dependence of particle concentration, average velocity components, fluctuations in these velocities and, with the flow turned off, the sedimentation velocity. The latter quantities are measured using Particle Imaging Velocimetry (PIV). The PIV technique uses a 1-megapixel camera to capture two time-displaced images of particles in the bed. The depth of field of the imaging system is approximately 0.5 cm. The camera images a region with characteristic length of 2.6 cm for the small particles and 4.7 cm. for the large particles. The local direction of particle flow is determined by calculating the correlation function for sub-regions of 32 x 32 pixels. The velocity vector map is created from this correlation function using the time between images (we use 15 to 30 ms). The software is sensitive variations of 1/64th of a pixel. We produce velocity maps at various heights, each consisting of 3844 velocities. We break this map into three vertical zones for increased height information. The concentration profile is measured using an expanded (1 cm diameter) linearly polarized HeNe Laser incident on the fluidized bed. A COHU camera (gamma=1, AGC off) with a lens and a polarizer images the transmitted linearly polarized light to minimize the effects of multiply scattered light. The intensity profile (640 X 480 pixels) is well described by a Gaussian fit and the height of the Gaussian is used to characterize the concentration. This value is compared to the heights found for known concentrations. The sedimentation velocity is estimated using by imaging a region near the bottom of the bed and using PIV to measure the velocity as a function of time. With a nearly uniform concentration profile, the time can be converted to height information. The stable fluidized beds are made from large pseudo-monodisperse particles (silica spheres with radii (250-300) microns and (425-500) microns) dispersed in a glycerin/water mix. The Peclet number is sufficiently large that Brownian motion of the particles can be ignored and the Reynolds number sufficiently small that particle inertia is negligible. A packed particle bed is used to randomize and disperse the flowing fluid introduced by a peristaltic pump. The bed itself is a rectangular glass cell 8 cm wide (x), 0.8 cm deep and a height of 30.5 cm (z). The depth of field of the camera is approximately 0.5 cm so depth information is averaged. Over flow fluid is returned to the reservoir making a closed loop system. In these experiments the particles form a sediment approximately 5.7 cm high with the pump off and expand to 22 cm with the pump on. For the smaller particles the pump velocity is .5 millimeters per second and 1.1 millimeters per second for the large particles. At this concentration the bed has a very well defined top where particle concentration rapidly drops to zero.

McClymer, James P.↗
NASA NTRS2003

TRMM Fire Algorithm, Product and Applications

Land fires are frequent menaces to human lives and property. They also change the state of the vegetation and contribute to the climate forcing by releasing large amount of aerosols and greenhouse gases into the atmosphere. This paper summarizes methodologies of detecting global land fires from the Tropical Rainfall Measuring Mission (TRMM) Visible Infrared Scanner FIRS) measurements. The TRMM Science Data and Information System (TSDIS) fire products include global images of daily hot spots and monthly fire counts at 0.5 deg. x 0.5 deg. resolution, as well as text fiies that details necessary information of all fire pixels. The information includes date, orbit number, pixel number, local time, solar zenith angle, latitude, longitude, reflectance of visible/near infrared channels, brightness temperatures of infrared channels, as well as background brightness temperatures of infrared channels. These products have been archived since January 1998. The TSDIS fire products are compared with the coincidental European Commission (EC) Joint Research Center (JRC) 1 km AVHRR fire products. Analyses of the TSDIS monthly fire products during the period from 1998 to 2003 manifested seasonal cycles of biomass fires over Southeast Asia, Africa, North America and South America. The data also showed interannual variations associated with the 98/99 ENS0 cycle in Central America and the Indonesian region. In order to understand the variability of global land fires and their effects on the distribution of atmospheric aerosols, statistical methods were applied to the TSDIS fire products as well as to the Total Ozone Mapping Spectrometer (TOMS) aerosol index products for a period of five years from January 1998 to December 2002. The variability of global atmospheric aerosol is consistent with the fire variations over these regions during this period. The correlation between fire count and TOMS aerosol index is about 0.55 for fire pixels in Southeast Asia, Indonesia, and Africa. Parallel statistical analyses such as Empirical Orthogonal Function (EOF) analysis and Singular Spectrum Analysis (SSA) methods were applied to pentad TRMM fire data and TOMS aerosol data. The EOF analyses showed contrast between North and South hemispheres and also inter- continental transitions in Africa and America. EOF and SSA analyses also identified 25-60 day intra-seasonal oscillations that were superimposed on the annual cycles of both fire and aerosol data. The intra-seasonal variability of fires showed similarity of tropical rainfall oscillation modes. The TRMM fire products were also compared to the coincident TRMh4 rainfall and other rainfall products to investigate the interaction between rainfall and fire. The results indicate that the annual, interannual and intraseasonal variability of fire are dominated by global rainfall variations. However, the feedback of fire to the rainfall occurrence at regional scale for certain regions is also evident.

Ji, Yi-Min↗
NASA NTRS2003

An Array of Frequency Selective Bolometers (FSB) for the Spectral Energy Distribution (SPEED) Camera

The SPEED camera is being developed to study the spectral energy distributions of high redshift galaxies using the Heinrich Hertz Telescope (HHT) in Arizona. SPEED requires a small cryogenic detector array of 2x2 pixels with each pixel having four frequency bands in the 150-350 GHz range. Here we describe the development of the detector array of these high efficiency FSBs. The FSB design provides the multi-pixel multi-spectral band capability required for SPEED in a compact stackable array. The SPEED bolometers will use proximity effect superconducting transition edge sensors as their temperature-sensing element allowing for higher levels of multiplexing in future applications.

Silverberg, R. F.↗
NASA NTRS2004

Application of Bayesian Classification to Content-Based Data Management

The high volume of Earth Observing System data has proven to be challenging to manage for data centers and users alike. At the Goddard Earth Sciences Distributed Active Archive Center (GES DAAC), about 1 TB of new data are archived each day. Distribution to users is also about 1 TB/day. A substantial portion of this distribution is MODIS calibrated radiance data, which has a wide variety of uses. However, much of the data is not useful for a particular user's needs: for example, ocean color users typically need oceanic pixels that are free of cloud and sun-glint. The GES DAAC is using a simple Bayesian classification scheme to rapidly classify each pixel in the scene in order to support several experimental content-based data services for near-real-time MODIS calibrated radiance products (from Direct Readout stations). Content-based subsetting would allow distribution of, say, only clear pixels to the user if desired. Content-based subscriptions would distribute data to users only when they fit the user's usability criteria in their area of interest within the scene. Content-based cache management would retain more useful data on disk for easy online access. The classification may even be exploited in an automated quality assessment of the geolocation product. Though initially to be demonstrated at the GES DAAC, these techniques have applicability in other resource-limited environments, such as spaceborne data systems.

Lynnes, Christopher↗
NASA NTRS1998

Composite x-ray image assembly for large-field digital mammography with one- and two-dimensional positioning of a focal plane array

To demonstrate the feasibility of a novel large-field digital mammography technique, a 1024 x 1024 pixel Loral charge-coupled device (CCD) focal plane array (FPA) was positioned in a mammographic field with one- and two-dimensional scan sequences to obtain 950 x 1800 pixel and 3600 x 3600 pixel composite images, respectively. These experiments verify that precise positioning of FPAs produced seamless composites and that the CCD mosaic concept has potential for high-resolution, large-field imaging. The proposed CCD mosaic concept resembles a checkerboard pattern with spacing left between the CCDs for the driver and readout electronics. To obtain a complete x-ray image, the mosaic must be repositioned four times, with an x-ray exposure at each position. To reduce the patient dose, a lead shield with appropriately patterned holes is placed between the x-ray source and the patient. The high-precision motorized translation stages and the fiber-coupled-scintillating-screen-CCD sensor assembly were placed in the position usually occupied by the film cassette. Because of the high mechanical precision, seamless composites were constructed from the subimages. This paper discusses the positioning, image alignment procedure, and composite image results. The paper only addresses the formation of a seamless composite image from subimages and will not consider the effects of the lead shield, multiple CCDs, or the speed of motion.

Mammography/methods/statistics & numerical data↗