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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1998

VR for Mars Pathfinder

Virtual reality (VR) technology has played an integral role for Mars Pathfinder mission, operations Using an automated machine vision algorithm, the 3d topography of the Martian surface was rapidly recovered fro -a the stereo images captured. by the Tender camera to produce photo-realistic 3d models, An advanced, interface was developed for visualization and interaction with. the virtual environment of the Pathfinder landing site for mission scientists at the Space Flight Operations Facility of the Jet Propulsion Laboratory. The VR aspect of the display allowed mission scientists to navigate on Mars in Bud while remaining here on Earth, thus improving their spatial awareness of the rock field that surrounds the lenders Measurements of positions, distances and angles could be easily extracted from the topographic models, providing valuable information for science analysis and mission. planning. Moreover, the VR map of Mars has also been used to assist with the archiving and planning of activities for the Sojourner rover.

Blackmon, Theodore↗
NASA NTRS2009

Robot Vision Library

The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses

Howard, Andrew B.↗
NASA NTRS2012

Stereo and IMU-Assisted Visual Odometry for Small Robots

This software performs two functions: (1) taking stereo image pairs as input, it computes stereo disparity maps from them by cross-correlation to achieve 3D (three-dimensional) perception; (2) taking a sequence of stereo image pairs as input, it tracks features in the image sequence to estimate the motion of the cameras between successive image pairs. A real-time stereo vision system with IMU (inertial measurement unit)-assisted visual odometry was implemented on a single 750 MHz/520 MHz OMAP3530 SoC (system on chip) from TI (Texas Instruments). Frame rates of 46 fps (frames per second) were achieved at QVGA (Quarter Video Graphics Array i.e. 320 240), or 8 fps at VGA (Video Graphics Array 640 480) resolutions, while simultaneously tracking up to 200 features, taking full advantage of the OMAP3530's integer DSP (digital signal processor) and floating point ARM processors. This is a substantial advancement over previous work as the stereo implementation produces 146 Mde/s (millions of disparities evaluated per second) in 2.5W, yielding a stereo energy efficiency of 58.8 Mde/J, which is 3.75 better than prior DSP stereo while providing more functionality.

Source record↗
NASA NTRSDate not supplied

Topographic Quintet: Comparing Five Methods for Measuring Ultra-High Resolution Topography

We compare different methods for collecting ultra-high resolution topography data within an analog planetary, human landing site scale area. Our aim is to investigate the cost and benefits of different 3D terrain mapping techniques, their associated data collection methods, and how their different specifications (e.g., range, spatial resolution, scanning-time, mobility, operating constraints, GPS-Denied operation, etc.) might be applied to landing-site characterization and mission operations. We compare 3D terrain data collected during a field campaign in November 2021 from an outcrop at Kilbourne Hole in southern New Mexico using different Light Detection and Ranging (LiDAR) sensors on the ground and stereo-derived 3D data from framing cameras mounted on small uncrewed aerial systems (sUAS).Our foci for this experiment are ground-based, surveying, and autonomous vehicle-type 3D scanning sensors that might be used for planetary surface exploration from landed assets (e.g., lander, rover, astronaut-mounted sensors, decent imaging, hoppers, or drones).[e.g. 1]This test is not meant to benchmark these scanners against one another, nor provide a recommendation for a specific make or model. Rather, our goal is to quantify time, effort, resolution, and operational trade-offs that are important for selecting a topographic instrument/methodology for a given scope of terrain characterization. Our results indicate that each technique is capable of exceptional quality terrain characterization for planetary exploration and scientific inquiry, but we hypothesize the appropriate technique is highly dependent on the scope of operational specifications and science requirements.

P Whelley↗
NASA NTRS2021

Dense 3D-Reconstruction from Monocular Image Sequences for Computationally Constrained UAS

The ability to find safe landing sites over complex 3D terrain is an essential safety feature for fully autonomous small unmanned aerial systems (UAS), which requires on-board perception for 3D reconstruction and terrain analysis if the overflown terrain is unknown. This is a challenge for UAS that are limited in size, weight and computational power, such as small rotorcrafts executing autonomous missions on Earth, or in planetary applications such as the Mars Helicopter. For such a computationally constraint system, we propose a structure from motion approach that uses inputs from a single downward facing camera to produce dense point clouds of the overflown terrain in real time. In contrast to existing approaches, our method uses metric pose information from a visual-inertial odometry algorithm as camera pose priors, which allows deploying a fast pose refinement step to align camera frames such that a conventional stereo algorithm can be used for dense 3D reconstruction. We validate the performance of our approach with extensive evaluations in simulation, and demonstrate the feasibility with data from UAS flights.

Brockers, Roland↗
NASA NTRS1976

Multispectral and stereo imaging on Mars

Relevant aspects of the design and function of the two-window Viking Landing Camera system are described, with particular reference to some results of its operation on Mars during the Viking mission. A major feature of the system is that the optical tunnel between the lens and the photosensor array contains a multiaperture baffle designed to reduce veiling glare and to attenuate radio frequency interference from the lander antennas. The principle of operation of the contour mode is described. The accuracy is limited by the stereo base, resolution of camera picture elements, and geometric calibration. To help determine the desirability as well as the safety of possible sample sites, use is made of both radiometric and photogrammetric information for each picture element to combine high-resolution pictures with low-resolution color pictures of the same area. Explanatory photographs supplement the text.

Levinthal, E. C.↗
NASA NTRS1988

Monocular electro-optical stereo scanner

MEOSS is a single optics and single spectral band camera. Three CCD's working in pushbroom mode are mounted perpendicular to the flight direction on a common focal plate. Their oblique views of + and - 23 degrees forward and backward, as well as nadir oriented, lead to threefold stereoscopic images. This principle allows a nearly simultaneous generation of all three images of a stereo triplet. The time gap between the forward and aft looking images guarantees constant illumination conditions. The ground resolution of MEOSS will be 52 by 80 m ground pixel size, height resolution of 55 m and swath width of 255 km. The drifting ground coverage pattern of MEOSS is unique compared to polar orbiting satellites and will allow images of an area to be taken at different times of the day. A scene will consist of 3144 scan lines, with each having 3236 pixels. The data will be received by the Deep Space Network of JPL Goldstone and mailed to Goddard.

Vermillion, C.↗
NASA NTRS1975

Study to develop improved spacecraft snow survey methods using Skylab/EREP data

The author has identified the following significant results. Of the four black and white S190A camera stations, snowcover is best defined in the two visible spectral bands, due in part to their better resolution. The overall extent of the snow can be mapped more precisely, and the snow within shadow areas is better defined in the visible bands. Of the two S190A color products, the aerial color photography is the better. Because of the contrast in color between snow and snow-free terrain and the better resolution, this product is concluded to be the best overall of the six camera stations for detecting and mapping snow. Overlapping frames permit stereo viewing, which aids in distinguishing clouds from the underlying snow. Because of the greater spatial resolution of the S190B earth terrain camera, areal snow extent can be mapped in greater detail than from the S190A photographs. The snow line elevation measured from the S190A and S190B photographs is reasonable compared to the meager ground truth data available.

Barnes, J. C.↗
NASA NTRS2011

Orthographic Stereo Correlator on the Terrain Model for Apollo Metric Images

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.

Terrain Model↗
NASA NTRS1974

Extracting depth information from a stereo pair

An approach to extracting depth information out of a stereo pair of images is described. Special camera pair configurations are shown to be effective in reducing complexity. A simple algorithm which pairs objects in the two images and allows verification is described.

Yakimovsky, Y.↗
NASA NTRS1978

Earth observations and photography experiment: Summary of significant results

Observation and photographic data from the Apollo Soyuz Test Project are analyzed. The discussion is structured according to the fields of investigation including: geology, desert studies, oceanography, hydrology, and meteorology. The data were obtained by: (1) visual observations of selected Earth features, (2) hand-held camera photography to document observations, and (3) stereo mapping photography of areas of significant scientific interest.

El-Baz, F.↗
NASA NTRS1978

System of Programmed Modules for Measuring Photographs with a Gamma-Telescope

Physical experiments using tracking cameras resulted in hundreds of thousands of stereo photographs of events being received. To process such a large volume of information, automatic and semiautomatic measuring systems are required. At the Institute of Space Research of the Academy of Science of the USSR, a system for processing film information from the spark gamma-telescope was developed. The system is based on a BPS-75 projector in line with the minicomputer Elektronika 1001. The report describes this system. The various computer programs available to the operators are discussed.

Averin, S. A.↗
NASA NTRS1991

Particulate impacts on the UHCRE cosmic ray experiment teflon covers: The ESA programme

The optical scanning equipment at the University of Kent Unit for Space Science consists of a 102.5 by 42.5 cm computer controlled motorized stage which has a reproduction accuracy of 30 microns over the entire area. This is used with an optical microscope connected to two charge coupled device video cameras which can be used to obtain stereo color images of any features found. A coordinate system can be defined on each cover by means of two or more reference marks which allow a feature to be located using different equipment such as a scanning electron microscope, providing two known marks can be found. By using back illumination, penetrating features can be found automatically, and their sizes, circularity, and positions logged for later revisiting either on the optical system or using a scanning electron microscope.

Mcdonnell, J. A. M.↗
NASA NTRS2024

Lensless Particle Image Velocimetry

The application of lensless imaging to particle image velocimetry (PIV) is demonstrated. Lensless PIV eliminates the need for imaging lenses to measure flow fields near a surface. Only the camera sensor, a thin mask, and computations are required to image particles in a flow field and to compute the velocity field. The small form factor could enable embedded sensors for near-wall measurements. Flow field measurements are obtained simultaneously for a lensless system and lens-based 2D PIV system, and several different reconstruction techniques are demonstrated. The reconstructed particle images and computed velocity fields compare well for both a uniform and shear flow. The potential for stereo and 3D volumetric PIV with a single camera sensor is demonstrated through different image reconstruction approaches.

Lensless imaging↗
NASA NTRS2004

General-Purpose Stereo Imaging Velocimetry Technique Developed for Space and Industrial Applications

A new three-dimensional, full-field analysis technique has been developed for industrial and space applications. Stereo Imaging Velocimetry (SIV) will provide full-field analysis for three-dimensional flow data from any optically transparent fluid that can be seeded with tracer particles. The goal of SIV is to provide a means to measure three-dimensional fluid velocities quantitatively and qualitatively at many points. SIV is applicable to any optically transparent fluid experiment. Except for the tracer particles, this measurement technique is nonintrusive. Velocity accuracies are on the order of 95 to 99 percent of fullfield. The system components of SIV include camera calibration, centroid determination, overlap decomposition, particle tracking, stereo matching, and three-dimensional velocity analysis. SIV has been used successfully for space shuttle experiments as well as for fluid flow applications for business and industry.

McDowell, Mark↗
NASA NTRS2003

Multibaseline stereo system for evaluation of binocular stereo

In this paper, we provide both a system description and a detailed overview of a novel depth-based multibaseline stereo algorithm. Our new algorithm avoids the need for pairwise camera rectification. We conclude with several simulations and real world experiments to verify our results.

multibaseline↗
NASA NTRS2007

Analysis of Performance of Stereoscopic-Vision Software

A team of JPL researchers has analyzed stereoscopic vision software and produced a document describing its performance. This software is of the type used in maneuvering exploratory robotic vehicles on Martian terrain. The software in question utilizes correlations between portions of the images recorded by two electronic cameras to compute stereoscopic disparities, which, in conjunction with camera models, are used in computing distances to terrain points to be included in constructing a three-dimensional model of the terrain. The analysis included effects of correlation- window size, a pyramidal image down-sampling scheme, vertical misalignment, focus, maximum disparity, stereo baseline, and range ripples. Contributions of sub-pixel interpolation, vertical misalignment, and foreshortening to stereo correlation error were examined theoretically and experimentally. It was found that camera-calibration inaccuracy contributes to both down-range and cross-range error but stereo correlation error affects only the down-range error. Experimental data for quantifying the stereo disparity error were obtained by use of reflective metrological targets taped to corners of bricks placed at known positions relative to the cameras. For the particular 1,024-by-768-pixel cameras of the system analyzed, the standard deviation of the down-range disparity error was found to be 0.32 pixel.

Kim, Won↗