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At least 19 records

All sources NASA NTRS DOE OSTI

NASA NTRSDate not supplied

Influence of the Perception Constraint, Installation Effects, and Broadband SelfNoise on Low-Fidelity, Multi-point, UAM Vehicle Perception-Influenced-Design(PID) Optimization

UAM vehicles represent a unique challenge in acoustics because there are a limited number of full-scale datasets that can be used to calibrate and validate prediction models. In addition, acoustics is considered more often in the early design loop as a higher priority concern in UAM vehicle design, whereas with traditional vehicles, acoustics is typically addressed with post-design constraints. This paper will present an approach in design optimization of a proprotor in two flight conditions, hover, and forward flight, with several acoustic objective functions that simulate community response. An adjoint-capable vortex-lattice method (VLM), implemented in VSPAERO, will be used to compute the blade forces and inflow properties required to compute tonal and broadband noise using the second-generation Aircraft NOise Prediction Program (ANOPP2). In addition, a wing is placed near the proprotor to simulate installation effects on a vehicle’s wing. The influence of rotation rate, chord distribution, twist angle, and sweep on installation, broadband noise, and choice of perception constraint from the design optimization will be shown.

acoustics↗

NASA NTRSDate not supplied

Influence of the Perception Constraint, Observer Position, and Broadband Self-Noise on Low-Fidelity UAM Vehicle Perception-Influenced-Design (PID) Optimization

This paper will present an approach in design optimization of a proprotor in a forward flight condition with several acoustic objective functions that simulate community response. An adjoint-capable blade element momentum theory (BEMT), implemented in CCBlade.jl, will be used to compute the blade forces and inflow properties required to compute tonal and broadband noise using the second-generation Aircraft NOise Prediction Program (ANOPP2). The influence of broadband noise, observer location, and choice of perception constraint on optimized values of rotation rate, chord distribution, and twist angle will be shown. It is determined that broadband self-noise is an influential source noise mechanism in the design optimization when frequency weighting is used to predict the noise at an out-of-plane observer position.

acoustics↗

NASA NTRSDate not supplied

Influence of the Perception Constraint, Observer Position, and Broadband Self-Noise on Low-Fidelity UAM Vehicle Perception-Influenced-Design (PID) Optimization

acoustics↗

NASA NTRS1991

Stereoscopic camera and viewing systems with undistorted depth presentation and reduced or eliminated erroneous acceleration and deceleration perceptions, or with perceptions produced or enhanced for special effects

Methods for providing stereoscopic image presentation and stereoscopic configurations using stereoscopic viewing systems having converged or parallel cameras may be set up to reduce or eliminate erroneously perceived accelerations and decelerations by proper selection of parameters, such as an image magnification factor, q, and intercamera distance, 2w. For converged cameras, q is selected to be equal to Ve - qwl = 0, where V is the camera distance, e is half the interocular distance of an observer, w is half the intercamera distance, and l is the actual distance from the first nodal point of each camera to the convergence point, and for parallel cameras, q is selected to be equal to e/w. While converged cameras cannot be set up to provide fully undistorted three-dimensional views, they can be set up to provide a linear relationship between real and apparent depth and thus minimize erroneously perceived accelerations and decelerations for three sagittal planes, x = -w, x = 0, and x = +w which are indicated to the observer. Parallel cameras can be set up to provide fully undistorted three-dimensional views by controlling the location of the observer and by magnification and shifting of left and right images. In addition, the teachings of this disclosure can be used to provide methods of stereoscopic image presentation and stereoscopic camera configurations to produce a nonlinear relation between perceived and real depth, and erroneously produce or enhance perceived accelerations and decelerations in order to provide special effects for entertainment, training, or educational purposes.

Diner, Daniel B.↗

NASA NTRS2006

Tilt and Translation Motion Perception during Off Vertical Axis Rotation

The effect of stimulus frequency on tilt and translation motion perception was studied during constant velocity off-vertical axis rotation (OVAR), and compared to the effect of stimulus frequency on eye movements. Fourteen healthy subjects were rotated in darkness about their longitudinal axis 10deg and 20deg off-vertical at 0.125 Hz, and 20deg offvertical at 0.5 Hz. Oculomotor responses were recorded using videography, and perceived motion was evaluated using verbal reports and a joystick with four degrees of freedom (pitch and roll tilt, mediallateral and anteriorposterior translation). During the lower frequency OVAR, subjects reported the perception of progressing along the edge of a cone. During higher frequency OVAR, subjects reported the perception of progressing along the edge of an upright cylinder. The modulation of both tilt recorded from the joystick and ocular torsion significantly increased as the tilt angle increased from 10deg to 20deg at 0.125 Hz, and then decreased at 0.5 Hz. Both tilt perception and torsion slightly lagged head orientation at 0.125 Hz. The phase lag of torsion increased at 0.5 Hz, while the phase of tilt perception did not change as a function of frequency. The amplitude of both translation perception recorded from the joystick and horizontal eye movements was negligible at 0.125 Hz and increased as a function of stimulus frequency. While the phase lead of horizontal eye movements decreased at 0.5 Hz, the phase of translation perception did not vary with stimulus frequency and was similar to the phase of tilt perception during all conditions. During dynamic linear acceleration in the absence of other sensory input (canal, vision) a change in stimulus frequency alone elicits similar changes in the amplitude of both self motion perception and eye movements. However, in contrast to the eye movements, the phase of both perceived tilt and translation motion is not altered by stimulus frequency. We conclude that the neural processing to distinguish tilt and translation linear acceleration stimuli differs between eye movements and motion perception.

Wood, Scott J.↗

NASA NTRS2003

Aircraft Noise Perception Study in Brazil: A Perspective on Airport Sustainable Growth and Environmental Awareness

Aircraft noise perception is related to several variables that are tangible and objective, such as the number of operations, flight schedules. Other variables, instead, are more subjective, such as preferences. However, although their elusiveness, they contribute to determine the individuals' perception of this type of externality. Despite the fact that the complaints related to aeronautical noise have been registered since the decade of 50, it has been observed that the perception of noise seems to have grown, especially since the 80's. It has been argued that this change in noise perception has its roots on the accelerated expansion of air traffic. But, it is necessary to point out the important role played on modeling preferences, by the growing environmental conscience and the higher welfare and quality of life standards and expectations. In that context, the main objective of this paper is to study the aeronautical noise perception in the neighborhoods of the Aeroporto Internacional de Sao Paulo - AISP (the biggest airport of South America). Specifically, it analyzes the relationship between aircraft noise perception and social class, which is expected to be positive. Since noise perception is an intangible variable, this study chose as a proxy the value losses of residential properties, caused by aeronautical noise. The variable social class has been measured utilizing average per capita income of the population who live nearby the airport. The comparison of both, the lowest and the highest social class suggests that the relationship between social class and noise perception is positive in the AISP region. Moreover, it was observed that all social classes are very susceptible to aircraft noise annoyance. In fact, the magnitude of the noise perception proxy for both social classes -the residential value losses- was found to be comparable to levels encountered in developed countries.

deArantesGomesEller, Rogerio↗

NASA NTRS2000

Lay and Expert Perceptions of Planetary Protection

As space scientists and engineers plan new missions to Mars and other planets in our solar system, they will face critical questions about the potential for biological contamination of planetary surfaces. In a society that places ever-increasing importance on the role of public involvement in science and technology policy, questions about risks of biological contamination will be examined and debated in the media, and will lead to the formation of public perceptions of planetary-contamination risks. These perceptions will, over time, form an important input to the development of space policy. Previous research in public and expert perceptions of technological risks and hazards has shown that many of the problems faced by risk-management organizations are the result of differing perceptions of risk (and risk management) between the general public and scientific and technical experts. These differences manifest themselves both as disagreements about the definition (and level) of risk associated with a scientific, technological or industrial enterprise, and as distrust about the ability of risk-management organizations (both public and private) to adequately protect people's health and safety. This report presents the results of a set of survey studies designed to reveal perceptions of planetary exploration and protection from a wide range of respondents, including both members of the general public and experts in the life sciences. The potential value of this research lies in what it reveals about perceptions of risk and benefit that could improve risk-management policies and practices. For example, efforts to communicate with the public about Mars sample return missions could benefit from an understanding of the specific concerns that nonscientists have about such a mission by suggesting areas of potential improvement in public education and information. Assessment of both public and expert perceptions of risk can also be used to provide an advanced signal of aspects of planetary exploration and protection that may be particularly sensitive or controversial and that could prove problematic from a risk-management standpoint, perhaps warranting a more stringent risk-management approach than would otherwise be the case based on technical considerations alone. The design of the study compares perceptions and attitudes about space exploration relevant to a Mars sample return mission between three respondent groups: (1) members of The Planetary Society, a group representing individuals with a strong interest in space-related issues, (2) a group of university-aged students, representing a population relatively sensitive to environmental hazards, and (3) a group of life scientists outside of the space research community. Members of The Planetary Society received the survey as part of a special issue of The Planetary Report on planetary protection, which contained a number of background articles on planetary protection and related topics. A synopsis of the issue was prepared as an introduction to the survey for the other two groups.

Race, Margaret S.↗

NASA NTRS2000

Motion coherence affects human perception and pursuit similarly

Pursuit and perception both require accurate information about the motion of objects. Recovering the motion of objects by integrating the motion of their components is a difficult visual task. Successful integration produces coherent global object motion, while a failure to integrate leaves the incoherent local motions of the components unlinked. We compared the ability of perception and pursuit to perform motion integration by measuring direction judgments and the concomitant eye-movement responses to line-figure parallelograms moving behind stationary rectangular apertures. The apertures were constructed such that only the line segments corresponding to the parallelogram's sides were visible; thus, recovering global motion required the integration of the local segment motion. We investigated several potential motion-integration rules by using stimuli with different object, vector-average, and line-segment terminator-motion directions. We used an oculometric decision rule to directly compare direction discrimination for pursuit and perception. For visible apertures, the percept was a coherent object, and both the pursuit and perceptual performance were close to the object-motion prediction. For invisible apertures, the percept was incoherently moving segments, and both the pursuit and perceptual performance were close to the terminator-motion prediction. Furthermore, both psychometric and oculometric direction thresholds were much higher for invisible apertures than for visible apertures. We constructed a model in which both perception and pursuit are driven by a shared motion-processing stage, with perception having an additional input from an independent static-processing stage. Model simulations were consistent with our perceptual and oculomotor data. Based on these results, we propose the use of pursuit as an objective and continuous measure of perceptual coherence. Our results support the view that pursuit and perception share a common motion-integration stage, perhaps within areas MT or MST.

NASA Center ARC↗

DOE OSTI2026

A Comparative Analysis of Infrastructure-Based Perception Sensors for Intelligent Transportation Systems

The rise of privatized and public investment in smart city infrastructure and intelligent transportation systems has generated a heightened demand for perception sensors that effectively track and detect objects while being reliable in diverse weather and lighting conditions. This growing demand for perception sensors has accelerated their development and enhanced their capabilities. With these new capabilities, it is challenging to determine the most suitable sensing unit to use in each situation. Therefore, it is essential to have a comprehensive understanding of the benefits and limitations of each sensing unit to effectively leverage their capabilities. The purpose of this paper is to provide a detailed evaluation of various perception sensors. Additionally, this paper will demonstrate the benefits of combining multiple perception sensors, which complement each other by addressing data gaps inherent to single-sensor systems, to facilitate the creation of a digital twin that models the real world. The Infrastructure, Perception, and Control (IPC) team will conduct data analysis using data collected through field testing at traffic intersections in Colorado Springs, Colorado, to make comparisons between sensors. This research aims to provide clear and concise information about modern perception systems, which will support the development of intelligent transportation systems.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS2001

Perception of tilt (somatogravic illusion) in response to sustained linear acceleration during space flight

During the 1998 Neurolab mission (STS-90), four astronauts were exposed to interaural and head vertical (dorsoventral) linear accelerations of 0.5 g and 1 g during constant velocity rotation on a centrifuge, both on Earth and during orbital space flight. Subjects were oriented either left-ear-out or right-ear-out (Gy centrifugation), or lay supine along the centrifuge arm with their head off-axis (Gz centrifugation). Pre-flight centrifugation, producing linear accelerations of 0.5 g and 1 g along the Gy (interaural) axis, induced illusions of roll-tilt of 20 degrees and 34 degrees for gravito-inertial acceleration (GIA) vector tilts of 27 degrees and 45 degrees , respectively. Pre-flight 0.5 g and 1 g Gz (head dorsoventral) centrifugation generated perceptions of backward pitch of 5 degrees and 15 degrees , respectively. In the absence of gravity during space flight, the same centrifugation generated a GIA that was equivalent to the centripetal acceleration and aligned with the Gy or Gz axes. Perception of tilt was underestimated relative to this new GIA orientation during early in-flight Gy centrifugation, but was close to the GIA after 16 days in orbit, when subjects reported that they felt as if they were 'lying on side'. During the course of the mission, inflight roll-tilt perception during Gy centrifugation increased from 45 degrees to 83 degrees at 1 g and from 42 degrees to 48 degrees at 0.5 g. Subjects felt 'upside-down' during in-flight Gz centrifugation from the first in-flight test session, which reflected the new GIA orientation along the head dorsoventral axis. The different levels of in-flight tilt perception during 0.5 g and 1 g Gy centrifugation suggests that other non-vestibular inputs, including an internal estimate of the body vertical and somatic sensation, were utilized in generating tilt perception. Interpretation of data by a weighted sum of body vertical and somatic vectors, with an estimate of the GIA from the otoliths, suggests that perception weights the sense of the body vertical more heavily early in-flight, that this weighting falls during adaptation to microgravity, and that the decreased reliance on the body vertical persists early post-flight, generating an exaggerated sense of tilt. Since graviceptors respond to linear acceleration and not to head tilt in orbit, it has been proposed that adaptation to weightlessness entails reinterpretation of otolith activity, causing tilt to be perceived as translation. Since linear acceleration during in-flight centrifugation was always perceived as tilt, not translation, the findings do not support this hypothesis.

STS-90 Shuttle Project↗

NASA NTRS2011

Translational Vestibulo-Ocular Reflex and Motion Perception During Interaural Linear Acceleration: Comparison of Different Motion Paradigms

The neural mechanisms to resolve ambiguous tilt-translation motion have been hypothesized to be different for motion perception and eye movements. Previous studies have demonstrated differences in ocular and perceptual responses using a variety of motion paradigms, including Off-Vertical Axis Rotation (OVAR), Variable Radius Centrifugation (VRC), translation along a linear track, and tilt about an Earth-horizontal axis. While the linear acceleration across these motion paradigms is presumably equivalent, there are important differences in semicircular canal cues. The purpose of this study was to compare translation motion perception and horizontal slow phase velocity to quantify consistencies, or lack thereof, across four different motion paradigms. Twelve healthy subjects were exposed to sinusoidal interaural linear acceleration between 0.01 and 0.6 Hz at 1.7 m/s/s (equivalent to 10 tilt) using OVAR, VRC, roll tilt, and lateral translation. During each trial, subjects verbally reported the amount of perceived peak-to-peak lateral translation and indicated the direction of motion with a joystick. Binocular eye movements were recorded using video-oculography. In general, the gain of translation perception (ratio of reported linear displacement to equivalent linear stimulus displacement) increased with stimulus frequency, while the phase did not significantly vary. However, translation perception was more pronounced during both VRC and lateral translation involving actual translation, whereas perceptions were less consistent and more variable during OVAR and roll tilt which did not involve actual translation. For each motion paradigm, horizontal eye movements were negligible at low frequencies and showed phase lead relative to the linear stimulus. At higher frequencies, the gain of the eye movements increased and became more inphase with the acceleration stimulus. While these results are consistent with the hypothesis that the neural computational strategies for motion perception and eye movements differ, they also indicate that the specific motion platform employed can have a significant effect on both the amplitude and phase of each.

Beaton, K. H.↗

DOE OSTI2025

Relative Contributions of sc-DER, mel-DER, Color Rendition, Chromaticity, and Illuminance to Spatial Brightness Perception

An experiment was conducted to examine spectrally based factors that contribute to the visual perception of interior environments, with a focus on brightness perception. Thirty-two participants evaluated 60 different lighting scenes in a mock office. The lighting spectral power distributions varied systematically in illuminance, chromaticity (CCT and Duv), s cone opic daylight efficacy ratio (sc-DER), melanopic daylight efficacy ratio (mel-DER), and color rendition (R f , R g , and R cs,h1 ). At the operationalized levels of these variables, illuminance had the largest effect on brightness perception. Notably, the second largest effect was due to changes in red chroma (R cs,h1 ). The effect of sc-DER was also statistically significant but was a tertiary effect. The effects of mel-DER, CCT, and Duv were not statistically significant. This large effect of red chroma is consistent with the existing understanding that changes in color perception are often perceived when illuminance changes. In conclusion, with appropriate changes in color rendition and other factors held constant, spatial brightness perception was preserved through a decrease from 500 lux to 250 lux.

42 ENGINEERING↗

DOE OSTI2025

Infrastructure-Based Cooperative Perception at a Traffic Intersection: Overview and Challenges

Traffic intersections are crucial and challenging nodes in transportation networks where multiple lanes of vehicles and pedestrians converge. About one-quarter of traffic fatalities and about one-half of all traffic injuries in the United States happen at traffic intersections . Effective management of these intersections is important to ensure safety and efficiency of all users - vehicles, pedestrians, cyclists, and vulnerable road users (VRUs). With advancements in sensor perception technologies such as radar, light detection and ranging (lidar), and cameras, traffic intersections are developing into dynamic and data-rich environments. By using these data to create a real-time digital twin, we can enable real-time data-driven decision making and a range of applications such as sharing perception information to connected vehicles (CVs) and connected autonomous vehicles (CAVs), safety affirmative signaling, and curb optimizing to improve efficiency and enhance safety.This paper presents an overview of the concept and examines the challenges involved in implementing an infrastructure-based cooperative perception engine at a traffic intersection. In addition to outlining the physical components, this study also addresses important challenges involved in a multi-sensor system. We present results from deploying the National Renewable Energy Laboratory's (NREL's) Infrastructure Perception and Control (IPC) mobile trailer at a traffic intersection in the city of Colorado Springs, Colorado, USA that employed multiple radars and lidars to capture the data. This study provides necessary practical learning for the Cooperative Driving Automation (CDA) and traffic engineering communities for next-generation infrastructure-based cooperative perception that promises improvements in signal control for optimized traffic flow, among other applications, and documents findings for ongoing research and development efforts in other areas.

ADVANCED PROPULSION SYSTEMS,MATHEMATICS AND COMPUT↗

NASA NTRS1997

Contrast affects flicker and speed perception differently

We have previously shown that contrast affects speed perception, with lower-contrast, drifting gratings perceived as moving slower. In a recent study, we examined the implications of this result on models of speed perception that use the amplitude of the response of linear spatio-temporal filters to determine speed. In this study, we investigate whether the contrast dependence of speed can be understood within the context of models in which speed estimation is made using the temporal frequency of the response of linear spatio-temporal filters. We measured the effect of contrast on flicker perception and found that contrast manipulations produce opposite effects on perceived drift rate and perceived flicker rate, i.e., reducing contrast increases the apparent temporal frequency of counterphase modulated gratings. This finding argues that, if a temporal frequency-based algorithm underlies speed perception, either flicker and speed perception must not be based on the output of the same mechanism or contrast effects on perceived spatial frequency reconcile the disparate effects observed for perceived temporal frequency and speed.

NASA Center ARC↗

NASA NTRS2009

Effects of Frequency and Motion Paradigm on Perception of Tilt and Translation During Periodic Linear Acceleration

Previous studies have demonstrated an effect of frequency on the gain of tilt and translation perception. Results from different motion paradigms are often combined to extend the stimulus frequency range. For example, Off-Vertical Axis Rotation (OVAR) and Variable Radius Centrifugation (VRC) are useful to test low frequencies of linear acceleration at amplitudes that would require impractical sled lengths. The purpose of this study was to compare roll-tilt and lateral translation motion perception in 12 healthy subjects across four paradigms: OVAR, VRC, sled translation and rotation about an earth-horizontal axis. Subjects were oscillated in darkness at six frequencies from 0.01875 to 0.6 Hz (peak acceleration equivalent to 10 deg, less for sled motion below 0.15 Hz). Subjects verbally described the amplitude of perceived tilt and translation, and used a joystick to indicate the direction of motion. Consistent with previous reports, tilt perception gain decreased as a function of stimulus frequency in the motion paradigms without concordant canal tilt cues (OVAR, VRC and Sled). Translation perception gain was negligible at low stimulus frequencies and increased at higher frequencies. There were no significant differences between the phase of tilt and translation, nor did the phase significantly vary across stimulus frequency. There were differences in perception gain across the different paradigms. Paradigms that included actual tilt stimuli had the larger tilt gains, and paradigms that included actual translation stimuli had larger translation gains. In addition, the frequency at which there was a crossover of tilt and translation gains appeared to vary across motion paradigm between 0.15 and 0.3 Hz. Since the linear acceleration in the head lateral plane was equivalent across paradigms, differences in gain may be attributable to the presence of linear accelerations in orthogonal directions and/or cognitive aspects based on the expected motion paths.

Beaton, K. H.↗

NASA NTRS2010

Motion Perception and Manual Control Performance During Passive Tilt and Translation Following Space Flight

This joint ESA-NASA study is examining changes in motion perception following Space Shuttle flights and the operational implications of post-flight tilt-translation ambiguity for manual control performance. Vibrotactile feedback of tilt orientation is also being evaluated as a countermeasure to improve performance during a closed-loop nulling task. METHODS. Data has been collected on 5 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s) combined with body translation (12-22 cm, peak-to-peak) is utilized to elicit roll-tilt perception (equivalent to 20 deg, peak-to-peak). A forward-backward moving sled (24-390 cm, peak-to-peak) with or without chair tilting in pitch is utilized to elicit pitch tilt perception (equivalent to 20 deg, peak-to-peak). These combinations are elicited at 0.15, 0.3, and 0.6 Hz for evaluating the effect of motion frequency on tilt-translation ambiguity. In both devices, a closed-loop nulling task is also performed during pseudorandom motion with and without vibrotactile feedback of tilt. All tests are performed in complete darkness. PRELIMINARY RESULTS. Data collection is currently ongoing. Results to date suggest there is a trend for translation motion perception to be increased at the low and medium frequencies on landing day compared to pre-flight. Manual control performance is improved with vibrotactile feedback. DISCUSSION. The results of this study indicate that post-flight recovery of motion perception and manual control performance is complete within 8 days following short-duration space missions. Vibrotactile feedback of tilt improves manual control performance both before and after flight.

Clement, Gilles↗

DOE OSTI2024

Infrastructure-Based Cooperative Perception at a Traffic Intersection: Overview and Challenges: Preprint

Recent advancement in autonomous driving vehicles and V2X communication has attracted increasing attention towards Intelligent Transportation Systems to build a safe and reliable traffic intersection. However, most of the systems are still at the initial stages and require significant progress to become a reality. This paper presents an overview of NREL Infrastructure Perception and Control (IPC) framework which is an open-source track-data fusion engine which takes input from infrastructure-based perception sensors and cooperatively shared messages from Connected Autonomous Vehicles (CAVs) and Connected Vehicle (CVs) and the challenges associated with deploying such cooperative perception framework at a four-way traffic intersection in the city of Colorado Springs, CO, USA. The sensor data is collected by deploying two radars and two LiDAR sensors on the IPC mobile lab and two radars on diagonally opposite traffic poles at the proposed intersection. The sensor output results imply the need for rapid sensor calibration to bring the collective perception to a common coordinate frame, the importance of time synchronization between the sensors in order to capture accurate spatial and temporal alignment of the objects, and the need for a health monitoring system with fail safe closed-loop detection model for real-time deployment.

camera↗

NASA NTRS2011

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5?m) or long-wave infrared (LWIR) radiation (8-12?m). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

terrain classification↗