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Advanced Air Mobility (AAM) encompasses a broad vision for air transportation, including Urban Air Mobility (UAM) as a subset. AAM aims to create a more connected and efficient transportation network across various geographical settings. However, navigating AAM aircraft in GPS-denied or degraded environments during approach and landing is challenging. Traditional vision aids like glideslopes and localizers are limited in vertiport environments due to narrow beam constraints and reduced landing angle options. This paper addresses the need for accurate navigation solutions at vertiports by proposing a vision-based distributed sensing (VIDIS) system utilizing cameras with bundle adjustment to assist incoming AAM aircraft during approach and landing while monitoring surface movements to enhance safety and efficiency. Key focus areas for current and future vertiport developers include identifying suitable sensor types and infrastructure standards to support AAM operations and including vertiport markings as vision-based navigation aids. The proposed system offers a novel approach to overcoming navigation challenges in AAM operations, particularly in urban settings where traditional aids may be insufficient. Preliminary simulation results with distributed cameras demonstrate promising outcomes for implementing bundle adjustment techniques to enhance vision-based navigation solutions at vertiports. Generating waypoint-based trajectories via waypoint integration using explicit guidance synthesis (WINGS) creates smooth AAM trajectories for landing at vertiports by using the current waypoint's terminal conditions as the initial conditions for the next waypoint. Combining bundle adjustment's ground-based solution of vertiport features with WINGS, Coplanar Pose from Orthography and Scaling with Iterations (COPOSIT), and an extended Kalman filter (EKF) estimates the state of an incoming aircraft during approach and landing at vertiports. Future work includes testing VIDIS in a high-fidelity simulation and with real-world data.
Advanced Air Mobility (AAM) encompasses a broad vision for air transportation, including Urban Air Mobility (UAM) as a subset. AAM aims to create a more connected and efficient transportation network across various geographical settings. However, navigating AAM aircraft in GPS-denied or degraded environments during approach and landing is challenging. Traditional vision aids like glideslopes and localizers are limited in vertiport environments due to narrow beam constraints and reduced landing angle options. This paper addresses the need for accurate navigation solutions at vertiports by proposing a vision-based distributed sensing (VIDIS) system utilizing cameras with bundle adjustment to assist incoming AAM aircraft during approach and landing while monitoring surface movements to enhance safety and efficiency. Key focus areas for current and future vertiport developers include identifying suitable sensor types and infrastructure standards to support AAM operations and including vertiport markings as vision-based navigation aids. The proposed system offers a novel approach to overcoming navigation challenges in AAM operations, particularly in urban settings where traditional aids may be insufficient. Preliminary simulation results with distributed cameras demonstrate promising outcomes for implementing bundle adjustment techniques to enhance vision-based navigation solutions at vertiports. Generating waypoint-based trajectories via waypoint integration using explicit guidance synthesis (WINGS) creates smooth AAM trajectories for landing at vertiports by using the current waypoint's terminal conditions as the initial conditions for the next waypoint. Combining bundle adjustment's ground-based solution of vertiport features with WINGS, Coplanar Pose from Orthography and Scaling with Iterations (COPOSIT), and an extended Kalman filter (EKF) estimates the state of an incoming aircraft during approach and landing at vertiports. Future work includes testing VIDIS in a high-fidelity simulation and with real-world data.
We have begun work to prepare for producing controlled 2001 Mars Odyssey THEMIS infrared (IR) and visible (VIS) global mosaics of Mars. This effort is being coordinated with colleagues from Arizona State University and on the THEMIS team who plan to address radiometric issues in making such mosaics. We are concentrating on geometric issues. Several areas of investigation are now in progress, including: a) characterizing the absolute pointing accuracy of THEMIS images; b) investigating whether automatic tie point matching algorithms could be used to provide connections between overlapping THEMIS images; c) developing algorithms to allow for the photogrammetric (bundle) adjustment of the THEMIS IR (line scanner) camera images. Our primary goal in this pilot study effort will be to make several test control THEMIS mosaics and better determine which methods could be used, which require development, and what level of effort is required, in order to make large regional or global controlled THEMIS mosaics.
The precise location and relative elevation of Spirit during its traverses from the Columbia Memorial station to Bonneville crater were determined with bundle-adjusted retrievals from rover wheel turns, suspension and tilt angles, and overlapping images. Physical properties experiments show a decrease of 0.2% per Mars solar day in solar cell output resulting from deposition of airborne dust, cohesive soil-like deposits in plains and hollows, bright and dark rock coatings, and relatively weak volcanic rocks of basaltic composition. Volcanic, impact, aeolian, and water-related processes produced the encountered landforms and materials.
Generating accurate three dimensional planetary models is becoming increasingly important as NASA plans manned missions to return to the Moon in the next decade. This paper describes a 3D surface reconstruction system called the Ames Stereo Pipeline that is designed to produce such models automatically by processing orbital stereo imagery. We discuss two important core aspects of this system: (1) refinement of satellite station positions and pose estimates through least squares bundle adjustment; and (2) a stochastic plane fitting algorithm that generalizes the Lucas-Kanade method for optimal matching between stereo pair images.. These techniques allow us to automatically produce seamless, highly accurate digital elevation models from multiple stereo image pairs while significantly reducing the influence of image noise. Our technique is demonstrated on a set of 71 high resolution scanned images from the Apollo 15 mission
A stereo correlation method on the object domain is proposed to generate the accurate and dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce high-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. Given camera parameters of an image pair from bundle adjustment in ASP, a correlation window is defined on the terrain with the predefined surface normal of a post rather than image domain. The squared error of back-projected images on the local terrain is minimized with respect to the post elevation. This single dimensional optimization is solved efficiently and improves the accuracy of the elevation estimate.
Monocular Visual-Inertial Odometry (VIO) has become ubiquitous for navigation of autonomous Micro Air Vehicles (MAVs). Yet, state-of-the-art VIO is still very failure- prone, which can have dramatic consequences. To prevent this, VIO must be able to re-initialize in mid-air, either during a free fall or on a constant horizontal velocity trajectory after attitude control has been re-established. However, for both of these trajectories, the visual scale cannot be observed with VIO batch initializers because of the absence of acceleration change. We propose to use a small and lightweight laser range finder and a scene facet model to initialize vision-based navigation at the right scale under any motion condition and over any scene structure. This new range constraint is integrated into a visual-inertial bundle adjustment initializer. We demonstrate in simulation and real data how this approach can address mid-air state estimation failure in real-time and analyze the sensitivity of estimators to initial state errors.
This paper presents a novel approach to terrain-relative navigation with a visual camera and Inertial Measurement Unit (IMU). The proposed algorithm uses an Extended Kalman Filter (EKF) to combine an IMU propagated state estimate with batch correction estimates computed over a sliding window of measurements. The batch correction algorithm follows the Maximum Likelihood Estimation (MLE) approach used in other Bundle Adjustment systems. Unlike other systems, the proposed system parameterizes the state over the entire window in terms of the state at a single epoch. By ignoring IMU error over the window duration, we obtain a state epoch MLE that jointly estimates the epoch state and terrain parameters with drastically reduced computationally cost. This paper presents the general architecture which can be adapted for various state parameterizations and measurement inputs. For space applications with high-accuracy IMUs, the reduction in computational cost comes with only a modest increase in estimation errors. The increase in error is quantified via a linear covariance analysis presented in this paper. Furthermore, we present simulation results which show the applicability of this algorithm to planetary landing problems.
This paper describes the model deformation system currently being developed for the National Transonic Facility at NASA Langley Research Center. The photogrammetry system uses up to eight network cameras that are time synced with an external hardware trigger. Camera extrinsics are calculated per frame with a bundle adjustment process with coded targets painted to the floor and walls of the test section. We describe our algorithm pipeline including the coded target system for target correspondence between camera views. We also present our future plans for modernizing the system.
This paper describes the model deformation system currently being developed for the National Transonic Facility at NASA Langley Research Center. The photogrammetry system uses up to eight network cameras that are time synced with an external hardware trigger. Camera extrinsics are calculated per frame with a bundle adjustment process with coded targets painted to the floor and walls of the test section. We describe our algorithm pipeline including the coded target system for target correspondence between camera views. We also present our future plans for modernizing the system.
Although high altitude frequencies effects are removed at the time of basic image generation, low altitude (Yaw) effects are still present in form of affinity/angular affinity. They are effectively removed by additional parameters. Bundle block adjustment based on properly weighted ephemeris/altitude quaternions (BBABEQ) are not enough to remove the systematic effect. Moreover, due to the narrow FOV of the HRSI, position and altitude are highly correlated making it almost impossible to separate and remove their systematic effects without extending the geometric model (Self-Calib.) The systematic effects gets evident on the increase of accuracy (in terms of RMSE at GCPs) for looser and relaxed ground control at the expense of large and strong block deformation with large residuals at check points. Systematic errors are most freely distributed and their effects propagated all over the block.
A novel polarimetric imaging technique making use of rapid retardance modulation has been developed by JPL as a part of NASA's Instrument Incubator Program. It has been built into the Airborne Multiangle SpectroPolarimetric Imager (AirMSPI) under NASA's Airborne Instrument Technology Transition Program, and is aimed primarily at remote sensing of the amounts and microphysical properties of aerosols and clouds. AirMSPI includes an 8-band (355, 380, 445, 470, 555, 660, 865, 935 nm) pushbroom camera that measures polarization in a subset of the bands (470, 660, and 865 nm). The camera is mounted on a gimbal and acquires imagery in a configurable set of along-track viewing angles ranging between +67 deg and -67 deg relative to nadir. As a result, near simultaneous multi-angle, multi-spectral, and polarimetric measurements of the targeted areas at a spatial resolution ranging from 7 m to 20 m (depending on the viewing angle) can be derived. An automated data production system is being built to support high data acquisition rate in concert with co-registration and orthorectified mapping requirements. To date, a number of successful engineering checkout flights were conducted in October 2010, August-September 2011, and January 2012. Data products resulting from these flights will be presented.
Flexible wire device, fastened along outside of fiber bundle from viewing portion to tip, positions calibrated adjustable gage in field of view. Scale factor is determined from known magnification characteristics of fiber optics system or from graduations on gage tip.
Cochlear outer hair cells (OHC) are commonly assumed to function as mechanical effectors as well as sensory receptors in the organ of Corti (OC) of the inner ear. OHC in vitro and in organ explants exhibit mechanical responses to electrical, chemical or mechanical stimulation which may represent an aspect of their effector process that is expected in vivo. A detailed description, however, of an OHC effector operation in situ is still missing. Specifically, little is known as to how OHC movements influence the geometry of the OC in situ. Previous work has demonstrated that the motility of isolated OHCs in response to electrical stimulation and to K(+)-gluconate is probably under voltage control and causes depolarisation (shortening) and hyperpolarization (elongation). This work was undertaken to investigate if the movements that were observed in isolated OHC, and which are induced by ionic stimulation, could change the geometry of the OC. A synchronized depolarization of OHC was induced in guinea pig cochleae by exposing the entire OC to artificial endolymph (K+). Subsequent morphometry of mid-modiolar sections from these cochleae revealed that the distance between the basilar membrane (BM) and the reticular lamina (RL) had decreased considerably. Furthermore, in the three upper turns OHC had significantly shortened in all rows. The results suggest that OHC can change their length in the organ of Corti (OC) thus deforming the geometry of the OC. The experiments reveal a tonic force generation within the OC that may change the position of RL and/or BM, contribute to damping, modulate the BM-RL-distance and control the operating points of RL and sensory hair bundles. Thus, the results suggest active self-adjustments of cochlear mechanics by slow OHC length changes. Such mechanical adjustments have recently been postulated to correspond to timing elements of animal communication, speech or music.
Compact and automated sensors are desired for assessing the health of cell cultures in biotechnology experiments in microgravity. Measurement of cell culture medium allows for the optirn.jzation of culture conditions on orbit to maximize cell growth and minimize unnecessary exchange of medium. While several discrete sensors exist to measure culture health, a multi-parameter sensor would simplify the experimental apparatus. One such sensor, the Paratrend 7, consists of three optical fibers for measuring pH, dissolved oxygen (p02), dissolved carbon dioxide (pC02) , and a thermocouple to measure temperature. The sensor bundle was designed for intra-arterial placement in clinical patients, and potentially can be used in NASA's Space Shuttle and International Space Station biotechnology program bioreactors. Methods: A Paratrend 7 sensor was placed at the outlet of a rotating-wall perfused vessel bioreactor system inoculated with BHK-21 (baby hamster kidney) cells. Cell culture medium (GTSF-2, composed of 40% minimum essential medium, 60% L-15 Leibovitz medium) was manually measured using a bench top blood gas analyzer (BGA, Ciba-Corning). Results: A Paratrend 7 sensor was used over a long-term (>120 day) cell culture experiment. The sensor was able to track changes in cell medium pH, p02, and pC02 due to the consumption of nutrients by the BHK-21. When compared to manually obtained BGA measurements, the sensor had good agreement for pH, p02, and pC02 with bias [and precision] of 0.02 [0.15], 1 mm Hg [18 mm Hg], and -4.0 mm Hg [8.0 mm Hg] respectively. The Paratrend oxygen sensor was recalibrated (offset) periodically due to drift. The bias for the raw (no offset or recalibration) oxygen measurements was 42 mm Hg [38 mm Hg]. The measured response (rise) time of the sensor was 20 +/- 4s for pH, 81 +/- 53s for pC02, 51 +/- 20s for p02. For long-term cell culture measurements, these response times are more than adequate. Based on these findings , the Paratrend sensor could offer automated, continuous monitoring of cell cultures with a temporal resolution of 1 minute, which is not attainable by sampling via handheld blood analyzer (i-STAT). Conclusion: The resulting bias and precision found in these cell culture-based studies is comparable to Paratrend sensor clinical results. Although the large error in p02 measurements (+/-18 mm Hg) may be acceptable for clinical applications, where Paratrend values are periodically adjusted to a BGA measurement, the O2 sensor in this bundle may not be reliable enough for the single-calibration requirement of sensors used in NASA's bioreactors. The pH and pC02 sensors in the bundle are reliable and stable over the measurement period, and can be used without recalibration to measure cell cultures in rn.jcrogravity biotechnology experiments. Future work will test additional Paratrend sensors to provide statistical assessment of sensor performance.
A control network for Triton has been computed using a bundle-type analytical triangulation program. The network contains 105 points that were measured on 57 Voyager-2 pictures. The adjustment contained 1010 observation equations and 382 normal equations and resulted in a standard measurement error of 13.36 microns. The coordinates of the control points, the camera orientation angles at the times when the pictures were taken, and Triton's mean radius were determined. A separate statistical analysis confirmed Triton's radius to be 1352.6 + or - 2.4 km. Attempts to tie the control network around the satellite were unsuccessful because discontinuities exist in high-resolution coverage between 66 deg and 289 deg longitude, north of 38 deg latitude, and south of 78 deg latitude.
This presentation will summarize progress on the development of a step height sensor for the BOLT flight vehicle. Two methods have been proposed to measure the step size in this effort.The first method involves the application of miniaturized camera embedded in the flight vehicle that views the step through a rearward-facing port (shown in Fig. 1a inset). The second method involves the application of a linear fiber optic array bundle to measure the intensity of light reflected back from the aft body step (concept shown in Fig. 1b). Preliminary testing with the miniaturized camera has been performed in the lab and shows that displacements of ≤10 μm can be measured using this method. Final testing with both methods will be performed on the test stand shown in Fig. 1a. This test stand will include a fine adjustment vertical translation stage that will be used to adjust the step height in steps of 1-2 μm. A high-magnification imaging system will also be used to verify the step height. The miniaturized camera and linear fiber optic array bundle will be mounted in one of several port holes with varying degrees of inclination relative to the top surface in the opposing aft-section slab. BOLT flight vehicle details and information on the steps can be found in Ref. [1].