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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Daytime Water Detection Based on Sky Reflections

Robust water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation. This is particularly true in wide-open areas where water can collect in naturally occurring terrain depressions during periods of heavy precipitation and form large water bodies. One of the properties of water useful for detecting it is that its surface acts as a horizontal mirror at large incidence angles. Water bodies can be indirectly detected by detecting reflections of the sky below the horizon in color imagery. The Jet Propulsion Laboratory (JPL) has implemented a water detector based on sky reflections that geometrically locates the pixel in the sky that is reflecting on a candidate water pixel on the ground and predicts if the ground pixel is water based on color similarity and local terrain features. This software detects water bodies in wide-open areas on cross-country terrain at mid- to far-range using imagery acquired from a forward-looking stereo pair of color cameras mounted on a terrestrial UGV. In three test sequences approaching a pond under a clear, overcast, and cloudy sky, the true positive detection rate was 100% when the UGV was beyond 7 meters of the water's leading edge and the largest false positive detection rate was 0.58%. The sky reflection based water detector has been integrated on an experimental unmanned vehicle and field tested at Ft. Indiantown Gap, PA, USA.

sky reflections↗
NASA NTRS2011

Daytime Water Detection Based on Sky Reflections

A water body s surface can be modeled as a horizontal mirror. Water detection based on sky reflections and color variation are complementary. A reflection coefficient model suggests sky reflections dominate the color of water at ranges > 12 meters. Water detection based on sky reflections: (1) geometrically locates the pixel in the sky that is reflecting on a candidate water pixel on the ground (2) predicts if the ground pixel is water based on color similarity and local terrain features. Water detection has been integrated on XUVs.

water detections↗
NASA NTRS2010

Water Detection Based on Sky Reflections

This software has been designed to detect water bodies that are out in the open on cross-country terrain at mid- to far-range (approximately 20 100 meters), using imagery acquired from a stereo pair of color cameras mounted on a terrestrial, unmanned ground vehicle (UGV). Non-traversable water bodies, such as large puddles, ponds, and lakes, are indirectly detected by detecting reflections of the sky below the horizon in color imagery. The appearance of water bodies in color imagery largely depends on the ratio of light reflected off the water surface to the light coming out of the water body. When a water body is far away, the angle of incidence is large, and the light reflected off the water surface dominates. We have exploited this behavior to detect water bodies out in the open at mid- to far-range. When a water body is detected at far range, a UGV s path planner can begin to look for alternate routes to the goal position sooner, rather than later. As a result, detecting water hazards at far range generally reduces the time required to reach a goal position during autonomous navigation. This software implements a new water detector based on sky reflections that geometrically locates the exact pixel in the sky that is reflecting on a candidate water pixel on the ground, and predicts if the ground pixel is water based on color similarity and local terrain features

Rankin, Arturo L.↗
NASA NTRS2014

Validation of the Two-Layer Model for Correcting Clear Sky Reflectance Near Clouds

A two-layer model was developed in our earlier studies to estimate the clear sky reflectance enhancement near clouds. This simple model accounts for the radiative interaction between boundary layer clouds and molecular layer above, the major contribution to the reflectance enhancement near clouds for short wavelengths. We use LES/SHDOM simulated 3D radiation fields to valid the two-layer model for reflectance enhancement at 0.47 micrometer. We find: (a) The simple model captures the viewing angle dependence of the reflectance enhancement near cloud, suggesting the physics of this model is correct; and (b) The magnitude of the 2-layer modeled enhancement agree reasonably well with the "truth" with some expected underestimation. We further extend our model to include cloud-surface interaction using the Poisson model for broken clouds. We found that including cloud-surface interaction improves the correction, though it can introduced some over corrections for large cloud albedo, large cloud optical depth, large cloud fraction, large cloud aspect ratio. This over correction can be reduced by excluding scenes (10 km x 10km) with large cloud fraction for which the Poisson model is not designed for. Further research is underway to account for the contribution of cloud-aerosol radiative interaction to the enhancement.

two-layer model↗
NASA NTRS2015

Testing the Two-Layer Model for Correcting Clear Sky Reflectance near Clouds

A two-layer model (2LM) was developed in our earlier studies to estimate the clear sky reflectance enhancement due to cloud-molecular radiative interaction at MODIS at 0.47 micrometers. Recently, we extended the model to include cloud-surface and cloud-aerosol radiative interactions. We use the LES/SHDOM simulated 3D true radiation fields to test the 2LM for reflectance enhancement at 0.47 micrometers. We find: The simple model captures the viewing angle dependence of the reflectance enhancement near cloud, suggesting the physics of this model is correct; the cloud-molecular interaction alone accounts for 70 percent of the enhancement; the cloud-surface interaction accounts for 16 percent of the enhancement; the cloud-aerosol interaction accounts for an additional 13 percent of the enhancement. We conclude that the 2LM is simple to apply and unbiased.

MODIS↗
NASA NTRS2015

Predicting Clear-Sky Reflectance Over Snow/Ice in Polar Regions

Satellite remote sensing of clouds requires an accurate estimate of the clear-sky radiances for a given scene to detect clouds and aerosols and to retrieve their microphysical properties. Knowing the spatial and angular variability of clear-sky albedo is essential for predicting clear-sky radiance at solar wavelengths. The Clouds and the Earth's Radiant Energy System (CERES) Project uses the nearinfrared (NIR; 1.24, 1.6 or 2.13 micrometers), visible (VIS; 0.63 micrometers) and vegetation (VEG; 0.86 micrometers) channels available on the Terra and Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) to help identify clouds and retrieve their properties in both snow-free and snow-covered conditions. Thus, it is critical to have reliable distributions of clear-sky albedo for all of these channels. In CERES Edition 4 (Ed4), the 1.24-micrometer channel is used to retrieve cloud optical depth over snow/ice-covered surfaces. Thus, it is especially critical to accurately predict the 1.24-micrometer clear-sky albedo alpha and reflectance rho for a given location and time. Snow albedo and reflectance patterns are very complex due to surface texture, particle shapes and sizes, melt water, and vegetation protrusions from the snow surface. To minimize those effects, this study focuses on the permanent snow cover of Antarctica where vegetation is absent and melt water is minimal. Clear-sky albedos are determined as a function of solar zenith angle (SZA) from observations over all scenes determined to be cloud-free to produce a normalized directional albedo model (DRM). The DRM is used to develop alpha(SZA=0 degrees) on 10 foot grid for each season. These values provide the basis for predicting r at any location and set of viewing & illumination conditions. This paper examines the accuracy of this approach for two theoretical snow surface reflectance models.

Chen, Yan↗
NASA NTRS2009

MODIS Observations of Enhanced Clear Sky Reflectance Near Clouds

Several recent studies have found that the brightness of clear sky systematically increases near clouds. Understanding this increase is important both for a correct interpretation of observations and for improving our knowledge of aerosol-cloud interactions. However, while the studies suggested several processes to explain the increase, the significance of each process is yet to be determined. This study examines one of the suggested processes three-dimensional (3-D) radiative interactions between clouds and their surroundings by analyzing a large dataset of MODIS (Moderate Resolution Imaging Spectroradiometer) observations over the Northeast Atlantic Ocean. The results indicate that 3-D effects are responsible for a large portion of the observed increase, which extends to about 15 km away from clouds and is stronger (i) at shorter wavelengths (ii) near optically thicker clouds and (iii) near illuminated cloud sides. This implies that it is important to account for 3-D radiative effects in the interpretation of solar reflectance measurements over clear regions in the vicinity of clouds.

Varnai, Tamas↗
NASA NTRS2003

Detecting water hazards for autonomous off-road navigation

Detecting water hazards for autonomous, off-road navigation of unmanned ground vehicles is a largely unexplored problem. In this paper, we catalog environmental variables that affect the difficulty of this problem, including day vs. night operation, whether the water reflects sky or other terrain features, the size of the water body, and other factors. We briefly survey sensors that are applicable to detecting water hazards in each of these conditions. We then present analyses and results for water detection for four specific sensor cases: 1) using color image classification to recognize sky reflections in water during the day, 2) using ladar to detect the presence of water bodies and to measure their depth, 3) using short-wave infrared (SWIR) imagery to detect water bodies, as well as snow and ice, and 4) using mid-wave infrared (MWIR) imagery to recognize water bodies at night. For color imagery, we demonstrate solid results with a classifier that runs at nearly video rate on a 433 MHz processor. For ladar, we present a detailed propagation analysis that shows the limits of water body detection and depth estimation as a function of look ahead distance, water depth, and ladar wavelength. For SWIR and MWIR, we present sample imagery from a variety of data collections that illustrate the potential of these sensors. These results demonstrate significant progress on this problem.

McHenry, Mike↗
NASA NTRS2010

Daytime Water Detection Based on Color Variation

Robust water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation. This is particularly true in wide open areas where water can collect in naturally occurring terrain depressions during periods of heavy precipitation and form large water bodies (such as ponds). At far range, reflections of the sky provide a strong cue for water. But at close range, the color coming out of a water body dominates sky reflections and the water cue from sky reflections is of marginal use. We model this behavior by using water body intensity data from multiple frames of RGB imagery to estimate the total reflection coefficient contribution from surface reflections and the combination of all other factors. Then we describe an algorithm that uses one of the color cameras in a forward- looking, UGV-mounted stereo-vision perception system to detect water bodies in wide open areas. This detector exploits the knowledge that the change in saturation-to-brightness ratio across a water body from the leading to trailing edge is uniform and distinct from other terrain types. In test sequences approaching a pond under clear, overcast, and cloudy sky conditions, the true positive and false negative water detection rates were (95.76%, 96.71%, 98.77%) and (0.45%, 0.60%, 0.62%), respectively. This software has been integrated on an experimental unmanned vehicle and field tested at Ft. Indiantown Gap, PA.

reflection coefficient↗
NASA NTRS2012

Water Detection Based on Color Variation

This software has been designed to detect water bodies that are out in the open on cross-country terrain at close range (out to 30 meters), using imagery acquired from a stereo pair of color cameras mounted on a terrestrial, unmanned ground vehicle (UGV). This detector exploits the fact that the color variation across water bodies is generally larger and more uniform than that of other naturally occurring types of terrain, such as soil and vegetation. Non-traversable water bodies, such as large puddles, ponds, and lakes, are detected based on color variation, image intensity variance, image intensity gradient, size, and shape. At ranges beyond 20 meters, water bodies out in the open can be indirectly detected by detecting reflections of the sky below the horizon in color imagery. But at closer range, the color coming out of a water body dominates sky reflections, and the water cue from sky reflections is of marginal use. Since there may be times during UGV autonomous navigation when a water body does not come into a perception system s field of view until it is at close range, the ability to detect water bodies at close range is critical. Factors that influence the perceived color of a water body at close range are the amount and type of sediment in the water, the water s depth, and the angle of incidence to the water body. Developing a single model of the mixture ratio of light reflected off the water surface (to the camera) to light coming out of the water body (to the camera) for all water bodies would be fairly difficult. Instead, this software detects close water bodies based on local terrain features and the natural, uniform change in color that occurs across the surface from the leading edge to the trailing edge.

Rankin, Arturo L.↗
NASA NTRS2010

Clear-Sky Remote Sensing in the Vicinity of Clouds: What Can Be Learned About Aerosol Changes?

Studies on aerosol direct and indirect effects require a precise separation of cloud-free and cloudy air. However, separation between cloud-free and cloudy areas from remotely-sensed measurements is ambiguous. The transition zone in the regions around clouds often stretches out tens of km, which are neither precisely clear nor precisely cloudy. We study the transition zone between cloud-free and cloudy air using MODerate-resolution Imaging Spectroradiometer (MODIS) and Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observation (CALIPSO) measurements. Both instruments show enhanced clear-sky reflectance (MODIS) and clear-sky backscatterer (CALIPSO) near clouds. Analyzing a large dataset of MODIS observations we examine the effect of three-dimensional (3D) radiative interactions between clouds and cloud-free areas, also known as a cloud adjacency effect. Comparing with CALIPSO clear-sky backscatterer measurements, we show that the cloud adjacency effect may be responsible for a large portion of the enhanced clear sky reflectance observed by MODIS. While aerosol particles are responsible for a large part of the near-cloud enhancements in CALIPSO observations, misidentified or undetected cloud particles are also likely to contribute. As a result, both the nature of these particles (cloud vs. aerosol) and the processes creating them need to be clarified using a quantitative assessment of remote sensing limitations in particle detection and identification. "The width and ubiquity of the transition zone near clouds imply that studies of-aerosol-cloud -interactions and aerosol direct radiative effects need to account for aerosol changes near clouds. Not accounted, these changes can cause systematic biases toward smaller aerosol radiative forcing. On the other hand, including aerosol products near clouds despite their uncertainties may overestimate aerosol radiative forcing. Therefore, there is an urgent need for developing methods that can assess and account for remote sensing challenges and thus allow for including the transition zone into the study. We describe a simple model that estimates the cloud-induced enhanced reflectances of cloud-free areas in the vicinity of clouds. The model assumes that the enhancement is due entirely to Rayleigh scattering and is therefore bigger at shorter wavelengths, thus creating a so-called apparent "bluing" of aerosols in remote sensing retrievals.

Marshak, Alexander↗
NASA NTRS2010

Clear-Sky Remote Sensing in the Vicinity of Clouds: What We Learned from MODIS and CALIPSO

Studies on aerosol direct and indirect effects require a precise separation of cloud-free and cloudy air. However, separation between cloud-free and cloudy areas from remotely-sensed measurements is ambiguous. The transition zone in the regions around clouds often stretches out tens of km, which are neither precisely clear nor precisely cloudy. We study the transition zone between cloud-free and cloudy air using MODerate-resolution Imaging Spectroradiometer (MODIS) and Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observation (CALIPSO) measurements. Both instruments show enhanced clear-sky reflectance (MODIS) and clear-sky backscatterer (CALIPSO) near clouds, Analyzing a large dataset of MODIS observations we examine the effect of three-dimensional (3D) radiative interactions between clouds and cloud-free areas, also known as a cloud adjacency effect. Comparing with CALIPSO clear-sky backscatterer measurements, we show that the cloud adjacency effect may be responsible for a large portion of the enhanced clear sky reflectance observed by MODIS. While aerosol particles are responsible for a large part of the near-cloud enhancements in CALIPSO observations, misidentified or undetected cloud particles are also likely to contribute. As a result, both the nature of these particles (cloud vs. aerosol) and the processes creating them need to be clarified using a quantitative assessment of remote sensing limitations in particle detection and identification. The width and ubiquity of the transition zone near clouds imply that studies of aerosol-cloud interactions and aerosol direct radiative effects need to account for aerosol changes near clouds. Not accounted, these changes can cause systematic biases toward smaller aerosol radiative forcing. On the other hand, including aerosol products near clouds despite their uncertainties may overestimate aerosol radiative forcing. Therefore, there is an urgent need for developing methods that can assess and account for remote sensing challenges and thus allow for including the transition zone into the study. We describe a simple model that estimates the cloud-induced enhanced reflectances of cloud-free areas in the vicinity of clouds. The model assumes that the enhancement is due entirely to Rayleigh scattering and is therefore bigger at shorter wavelengths, thus creating a so-called apparent "bluing" of aerosols in remote sensing retrievals.

Marshak, Alexander↗
NASA NTRS1988

Comparison of cloud amounts derived using GOES and Landsat data

A hybrid bispectral threshold method (HBTM) is presently used to compare cloud amounts derived from Landsat digital data over 22 regions having various cloud types with cloudiness information obtained from collocated, nearly-simultaneous 4 x 8-km GOES visible and IR data. A sensitivity analysis indicates that an rms underestimation of about 0.01 in clear sky reflectance by the HBTM increased the GOES cloud amount by 0.06, which is more than twice the decrese in cloud amount obtained by an equivalent increase in clear-sky reflectance. Landsat imagery and cloud properties derived from the Landsat data are used to explain how the partially cloud-filled GOES pixels were treated by the HBTM. It is found that the HBTM accounts for the effects of partially cloud-filled FOVs in most cases of the present study.

Minnis, Patrick↗
NASA NTRS2002

A Comparison of Model- and Satellite-Derived Aerosol Optical Depth and Reflectivity

The determination of an accurate quantitative understanding of the role of tropospheric aerosols in the earth's radiation budget is extremely important because forcing by anthropogenic aerosols presently represents one of the most uncertain aspects of climate models. Here the authors present a systematic comparison of three different analyses of satellite-retrieved aerosol optical depth based on the Advanced Very High Resolution Radiometer (AVHRR)- measured radiances with optical depths derived from six different models. Also compared are the model-derived clear-sky reflected shortwave radiation with satellite-measured reflectivities derived from the Earth Radiation Budget Experiment (ERBE) satellite. The three different satellite-derived optical depths differ by between -0.10 and 0.07 optical depth units in comparison to the average of the three analyses depending on latitude and month, but the general features of the retrievals are similar. The models differ by between -0.09 and +0.16 optical depth units from the average of the models. Differences between the average of the models and the average of the satellite analyses range over -0.11 to +0.05 optical depth units. These differences are significant since the annual average clear-sky radiative forcing associated with the difference between the average of the models and the average of the satellite analyses ranges between -3.9 and 0.7 W m(exp -2) depending on latitude and is -1.7 W m (exp -2) on a global average annual basis. Variations in the source strengths of dimethylsulfide (DMS)-derived aerosols and sea salt aerosols can explain differences between the models, and between the models and satellite retrievals of up to 0.2 optical depth units. The comparison of model-generated reflected shortwave radiation and ERBE-measured shortwave radiation is similar in character as a function of latitude to the analysis of modeled and satellite-retrieved optical depths, but the differences between the modeled clear-sky reflected flux and the ERBE clear-sky reflected flux is generally larger than that inferred from the difference between the models and the AVHRR optical depths, especially at high latitudes. The difference between the mean of the models and the ERBE-analyzed clear-sky flux is 1.6 W m(exp -2). The overall comparison indicates that the model-generated aerosol optical depth is systematically lower than that inferred from measurements between the latitudes of 10 and 30 deg S. It is not likely that the shortfall is due to small values of the sea salt optical depth because increases in this component would create modeled optical depths that are larger than those from satellites in the region north of 30 deg N and near 50 deg S. Instead, the source strengths for DMS and biomass aerosols in the models may be too low. Firm conclusions, however, will require better retrieval procedures for the satellites, including better cloud screening procedures, further improvement of the model's treatment of aerosol transport and removal, and a better determination of aerosol source strengths.

Penner, Joyce E.↗
NASA NTRS1973

Remote water quality measurements with a lidar polarimeter

A lidar polarimeter system utilizing a 5 mw He-Ne laser has been constructed and used for laboratory and day light backscatter measurements from suspensions of teflon particles and absorbing dye in water. The results of this study have shown that a lidar polarimeter system can measure 'volume reflectance' without interference of peripheral effects such as sky reflections. The polarization ratio appears to be less affected by surface waves than does the total intensity or individual polarizations. The cross polarized return is the most sensitive to changes in the single scatter albedo and absolute concentrations of absorbing and scattering materials. A criterion is indicated which states that finite beam effects must be considered when the total extinction length is greater than the incident beam width.

Wilhelmi, G. J.↗
NASA NTRS1996

The 27-28 October 1986 FIRE IFO Cirrus Case Study: Cirrus Parameter Relationships Derived from Satellite and Lidar Data

Cirrus cloud radiative and physical characteristics are determined using a combination of ground based, aircraft, and satellite measurements taken as part of the First ISCCP Region Experiment (FIRE) cirrus intensive field observations (IFO) during October and November 1986. Lidar backscatter data are used with rawinsonde data to define cloud base, center and top heights and the corresponding temperatures. Coincident GOES-4 4-km visible (0.65 micrometer) and 8-km infrared window (11.5 micrometer) radiances are analyzed to determine cloud emittances and reflectances. Infrared optical depth is computed from the emittance results. Visible optical depth is derived from reflectance using a theoretical ice crystal scattering model and an empirical bidirectional reflectance model. No clouds with visible optical depths greater than 5 or infrared optical depths less than 0.1 were used in the analysis. Average cloud thickness ranged from 0.5 km to 8.0 km for the 71 scenes. Mean vertical beam emittances derived from cloud-center temperatures were 062 for all scenes compared to 0.33 for the case study (27-28 October) reflecting the thinner clouds observed for the latter scenes. Relationships between cloud emittance , extinction coefficients, and temperature for the case study are very similar to those derived from earlier surface-based studies. The thicker clouds seen during the other IFO days yield different results. Emittances derived using cloud-top temperature wer ratioed to those determined from cloud-center temperature. A nearly linear relationship between these ratios and cloud-center temperature holds promise for determining actual cloud-top temperature and cloud thickness from visible and infrared radiance pairs. The mean ratio of the visible scattering optical depth to the infrared absorption optical depth was 2.13 for these data. This scattering efficiency ratio shows a significant dependence on cloud temperature. Values of mean scattering efficiency as high as 2.6 suggest the presence of small ice particles at temperatures below 230 K. the parameterization of visible reflectance in terms of cloud optical depth and clear sky reflectance shows promise as a simplified method for interpreting visible satellite data reflected from cirrus clouds. Large uncertainties in the optical parameters due to cloud reflectance anisotropy and shading were found by analyzing data for various solar zenith angles and for simultaneous advanced very high resolution radiometer (AVHRR) data. Inhomogeneities in the cloud fields result in uneven cloud shading that apparently causes the occurrence of anomalously dark, cloud pixels in the GOES data. These shading effects complicate the interpretation of the satellite data. The results highlight the need for additional study or cirrus cloud scattering processes and remote sensing techniques.

Minnis, Patrick↗
NASA NTRS1990

The 27-28 October 1986 FIRE IFO Cirrus Case Study: Cirrus Parameter Relationships Derived from Satellite and Lidar Data

Cirrus cloud radiative and physical characteristics are determined using a combination of ground-based, aircraft, and satellite measurements taken as part of the FIRE Cirrus Intensive Field Observations (IFO) during October and November 1986. Lidar backscatter data are used with rawinsonde data to define cloud base, center, and top heights and the corresponding temperatures. Coincident GOES 4-km visible (0.65 micro-m) and 8-km infrared window (11.5 micro-m) radiances are analyzed to determine cloud emittances and reflectances. Infrared optical depth is computed from the emittance results. Visible optical depth is derived from reflectance using a theoretical ice crystal scattering model and an empirical bidirectional reflectance model. No clouds with visible optical depths greater than 5 or infrared optical depths less than 0.1 were used in the analysis. Average cloud thickness ranged from 0.5 km to 8.0 km for the 71 scenes. Mean vertical beam emittances derived from cloud-center temperatures were 0.62 for all scenes compared to 0.33 for the case study (27-28 October) reflecting the thinner clouds observed for the latter scenes. Relationships between cloud emittance, extinction coefficients, and temperature for the case study are very similar to those derived from earlier surface- based studies. The thicker clouds seen during the other IFO days yield different results. Emittances derived using cloud-top temperature were ratioed to those determined from cloud-center temperature. A nearly linear relationship between these ratios and cloud-center temperature holds promise for determining actual cloud-top temperatures and cloud thicknesses from visible and infrared radiance pairs. The mean ratio of the visible scattering optical depth to the infrared absorption optical depth was 2.13 for these data. This scattering efficiency ratio shows a significant dependence on cloud temperature. Values of mean scattering efficiency as high as 2.6 suggest the presence of small ice particles at temperatures below 230 K. The parameterization of visible reflectance in terms of cloud optical depth and clear-sky reflectance shows promise as a simplified method for interpreting visible satellite data reflected from cirrus clouds. Large uncertainties in the optical parameters due to cloud reflectance anisotropy and shading were found by analyzing data for various solar zenith angles and for simultaneous AVHRR data. Inhomogeneities in the cloud fields result in uneven cloud shading that apparently causes the occurrence of anomalously dark, cloudy pixels in the GOES data. These shading effects complicate the interpretation of the satellite data. The results highlight the need for additional study of cirrus cloud scattering processes and remote sensing techniques.

Minnis, Patrick↗