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At least 253 records · Page 14

Laser Illuminated Feature Position Determination and Calibration Approach for PIXL

This paper describes several approaches for the calibration of translational and rotational alignment errors between a camera and a set of laser illuminators for a position determination system. Detailed algorithms are derived and covariance of calibration residuals in both error state and target position determination accuracy are obtained. An example with system design parameters is given to demonstrate the effectiveness of the approaches. The algorithm can be used for any terrestrial or space position determination instruments employing a camera/laser triangulation system and is proposed, as one application, for the PIXL instrument of JPL’s MARS 2020 Rover project.

Liu, John Y.↗

Calibration of the DSCOVR EPIC Visible and NIR Channels using Multiple LEO Radiometers

The first five years of operation of the Deep Space Climate Observatory (DSCOVR) Earth Polychromatic Imaging Camera (EPIC) at the Lagrange one point have produced results that uniquely complement the data from currently operating low orbit Earth-observing instruments. In this paper we describe an updated unified approach to EPIC calibration. In this approach, calibration coefficients and their trends were obtained by comparing EPIC observations to the measurements from polar orbiting radiometers. In this study L1B reflectances from Moderate Resolution Imaging Spectroradiometer (MODIS) onboard the Aqua and Terra satellites, Multi-angle Imaging Spectroradiometer (MISR) onboard Terra and Visible Infrared Imaging Radiometer (VIIRS) onboard the Suomi National Polar-orbiting Partnership (Suomi NPP) spacecraft were used to infer calibration coefficients for four EPIC visible and near-infrared channels: 443 nm, 551 nm, 680 nm, and 780 nm. EPIC Version three measurements made between June 2015 and August 2020 were used for comparison. The calibration procedure identifies the most homogeneous low Earth orbit radiometer scenes matching scattering angles that are temporarily and spatially collocated with EPIC observations. These scenes are used to determine reflectance to count (R/C) ratios in spectrally analogous channels. Seasonal average R/C ratios were analyzed to obtain EPIC calibration gains and trends. The trends for the full dataset period are not statistically significant except in the 443 nm channel. No significant changes in calibration were found after the instrument’s exit from safe hold in March 2020. The R/C ratios were also used to determine the differences in EPIC gains resulting from separate calibrations: against MODIS Aqua or Terra, as well as against forward or aftward MISR cameras. Statistical tests indicate that the differences between the two datasets are not significant except in the 780 nm channels where Aqua-derived coefficients may be around 2% lower compared to Terra. The dependence of EPIC calibration gains on the instrument scattering angle and on DSCOVR-Earth distance were investigated. Lastly, model Low Earth Orbit (LEO) reflectances calculated to match the EPIC viewing geometry were employed to study how EPIC calibration coefficients depend on EPIC-LEO viewing geometry differences. The effect of LEO and EPIC angular mismatch on calibration was shown to be small.

deep space climate observatory/earth polychromatic↗

Improvements to the accuracy of the IUE wavelength scales in high dispersion

The data base of Pt-Ne emission lines used to calibrate the IUE high dispersion wavelength scales was scrutinized to improve the internal consistency of the adopted laboratory wavelength values and provide a homogeneous, documented line list, which IUE Guest Observers may use to evaluate quantitatively those Pt-Ne spectra taken to calibrate their data. After deletion of incorrect or inappropriate data in the old data base (lines with incorrect wavelength assignments; lines which are too faint, too bright, or blended; lines which fall near reseau marks, etc.) and the addition of several new entries, a total of 172 Pt-Ne lines for the SWP camera and 164 Pt-Ne lines for the LWR camera are now used for routine wavelength calibration in the high dispersion mode.

Turnrose, B. E.↗

Temperature-Sensitive Coating Sensor Based on Hematite

A temperature-sensitive coating, based on hematite (iron III oxide), has been developed to measure surface temperature using spectral techniques. The hematite powder is added to a binder that allows the mixture to be painted on the surface of a test specimen. The coating dynamically changes its relative spectral makeup or color with changes in temperature. The color changes from a reddish-brown appearance at room temperature (25 C) to a black-gray appearance at temperatures around 600 C. The color change is reversible and repeatable with temperature cycling from low to high and back to low temperatures. Detection of the spectral changes can be recorded by different sensors, including spectrometers, photodiodes, and cameras. Using a-priori information obtained through calibration experiments in known thermal environments, the color change can then be calibrated to yield accurate quantitative temperature information. Temperature information can be obtained at a point, or over an entire surface, depending on the type of equipment used for data acquisition. Because this innovation uses spectrophotometry principles of operation, rather than the current methods, which use photoluminescence principles, white light can be used for illumination rather than high-intensity short wavelength excitation. The generation of high-intensity white (or potentially filtered long wavelength light) is much easier, and is used more prevalently for photography and video technologies. In outdoor tests, the Sun can be used for short durations as an illumination source as long as the amplitude remains relatively constant. The reflected light is also much higher in intensity than the emitted light from the inefficient current methods. Having a much brighter surface allows a wider array of detection schemes and devices. Because color change is the principle of operation, the development of high-quality, lower-cost digital cameras can be used for detection, as opposed to the high-cost imagers needed for intensity measurements with the current methods. Alternative methods of detection are possible to increase the measurement sensitivity. For example, a monochrome camera can be used with an appropriate filter and a radiometric measurement of normalized intensity change that is proportional to the change coating temperature. Using different spectral regions yields different sensitivities and calibration curves for converting intensity change to temperature units. Alternatively, using a color camera, a ratio of the standard red, green, and blue outputs can be used as a self-referenced change. The blue region (less than 500 nm) does not change nearly as much as the red region (greater than 575 nm), so a ratio of color intensities will yield a calibrated temperature image. The new temperature sensor coating is easy to apply, is inexpensive, can contour complex shape surfaces, and can be a global surface measurement system based on spectrophotometry. The color change, or relative intensity change, at different colors makes the optical detection under white light illumination, and associated interpretation, much easier to measure and interpret than in the detection systems of the current methods.

Bencic, Timothy J.↗

Virtual Reality Calibration for Telerobotic Servicing

A virtual reality calibration technique of matching a virtual environment of simulated graphics models in 3-D geometry and perspective with actual camera views of the remote site task environment has been developed to enable high-fidelity preview/predictive displays with calibrated graphics overlay on live video.

error measurements↗

Hand-Eye Calibration Using Active Vision

The project described in this paper designed and implemented a hand-eye calibration method for manipulators under observation by stereo cameras. This method has been utilized on Johnson Space Center's Robonaut, and on a planetary manipulator mock-up at the Jet Propulsion Laboratory. The intent of this calibration is to improve the manipulator's hand-eye coordination.

manipulation↗

Polarimetric calibration of the Multi-Angle Imager for Aerosols (MAIA)

NASA’s Multi-Angle Imager for Aerosols (MAIA) mission, under development at the Jet Propulsion Laboratory, is designed to study the adverse health effects of different types of particulate air pollution. Planned for launch in 2023 for a 3-year mission, the MAIA satellite instrument will focus on a selected set of metropolitan target areas, where air quality monitors and health data are available. Aerosol concentration and speciation are inferred from multi-angle measurements of backscattered sunlight in 14 spectral bands from 350-2200 nm, with bands near 442, 645 and 1040 nm measuring the degree (DoLP) and angle of linear polarization (AoLP) in addition to radiance. The pushbroom camera has a ~240-km cross-track field of view with a nadir resolution of ~200 m, and is mounted onto a biaxial gimbal to provide along-track view angles within ±60°, to extend the field of regard to ±48°, and to view the instrument’s onboard calibrator (OBC) and dark target. The OBC consists of a sunlit transmissive diffuser, followed by 12 polarizers at different orientations. MAIA’s polarimetry is implemented using miniature wire grid polarizers on the focal plane array, and dual photoelastic modulators (PEMs) and achromatic quarter-wave plates to rapidly rotate the polarization. The resulting ~26-Hz intensity modulation encodes the linearly polarized and total radiance in each pixel, leaving the DoLP and AoLP insensitive to gain calibration. We report on the polarimetric calibration of the MAIA camera using a vacuum-compatible polarization state generator, consisting of a 1600W Xenon lamp, 12-inch integrating sphere, and rotating high-extinction polarizer. Mueller-matrix-based calibration coefficients for each detector pixel are derived from measurements at multiple polarizer angles, and are used to correct the measurements for instrumental polarization aberrations. Prior to flight, the calibrated MAIA camera is panned across the OBC to characterize its output, using uniform illumination with an irradiance similar to the Sun.

Werne, Thomas↗

COTS Camera and Computer-based Open-source Star Tracker

The NASA Johnson Space Center (JSC) and other partners have developed and verified a software suite intended to allow users with little-to-no experience with star trackers/attitude estimation to assemble, deploy, calibrate, and operate a star tracker using COTS cameras and computers. This software is open source, written in Python 3, and has been demonstrated across a variety of computers, operating systems, and cameras. The first release of the software is now available to download at the link below. We’re excited to see what you do with it! Please contact us for more information.

Samuel M. Pedrotty↗

OP09O-OP404-9 Wide Field Camera 3 CCD Quantum Efficiency Hysteresis

The HST/Wide Field Camera (WFC) 3 UV/visible channel CCD detectors have exhibited an unanticipated quantum efficiency hysteresis (QEH) behavior. At the nominal operating temperature of -83C, the QEH feature contrast was typically 0.1-0.2% or less. The behavior was replicated using flight spare detectors. A visible light flat-field (540nm) with a several times full-well signal level can pin the detectors at both optical (600nm) and near-UV (230nm) wavelengths, suppressing the QEH behavior. We are characterizing the timescale for the detectors to become unpinned and developing a protocol for flashing the WFC3 CCDs with the instrument's internal calibration system in flight. The HST/Wide Field Camera 3 UV/visible channel CCD detectors have exhibited an unanticipated quantum efficiency hysteresis (QEH) behavior. The first observed manifestation of QEH was the presence in a small percentage of flat-field images of a bowtie-shaped contrast that spanned the width of each chip. At the nominal operating temperature of -83C, the contrast observed for this feature was typically 0.1-0.2% or less, though at warmer temperatures contrasts up to 5% (at -50C) have been observed. The bowtie morphology was replicated using flight spare detectors in tests at the GSFC Detector Characterization Laboratory by power cycling the detector while cold. Continued investigation revealed that a clearly-related global QE suppression at the approximately 5% level can be produced by cooling the detector in the dark; subsequent flat-field exposures at a constant illumination show asymptotically increasing response. This QE "pinning" can be achieved with a single high signal flat-field or a series of lower signal flats; a visible light (500-580nm) flat-field with a signal level of several hundred thousand electrons per pixel is sufficient for QE pinning at both optical (600nm) and near-UV (230nm) wavelengths. We are characterizing the timescale for the detectors to become unpinned and developing a protocol for flashing the WFC3 CCDs with the instrument's internal calibration system in flight. A preliminary estimate of the decay timescale for one detector is that a drop of 0.1-0.2% occurs over a ten day period, indicating that relatively infrequent cal lamp exposures can mitigate the behavior to extremely low levels.

Collins, Nick↗

Mariner 9 star photography.

Mariner 9 achieved successful photography of the stars, the purpose of the experiment being to measure camera parameters associated with point source photometry, and to examine the feasibility of using stars as invariant calibration sources and a reference for optical navigation. The Mariner 9 camera-B photography demonstrated photometric response consistency over a limited sample of data to better than 15%. Camera performance verified the ability to model vidicon response characteristics as well as demonstrated an imaging capability sufficient to permit the use of stars for photometric calibration.

Thorpe, T. E.↗

Calibration of the ARID robot

The author has formulated a new, general model for specifying the kinematic properties of serial manipulators. The new model kinematic parameters do not suffer discontinuities when nominally parallel adjacent axes deviate from exact parallelism. From this new theory the author develops a first-order, lumped-parameter, calibration-model for the ARID manipulator. Next, the author develops a calibration methodology for the ARID based on visual and acoustic sensing. A sensor platform, consisting of a camera and four sonars attached to the ARID end frame, performs calibration measurements. A calibration measurement consists of processing one visual frame of an accurately placed calibration image and recording four acoustic range measurements. A minimum of two measurement protocols determine the kinematics calibration-model of the ARID for a particular region: assuming the joint displacements are accurately measured, the calibration surface is planar, and the kinematic parameters do not vary rapidly in the region. No theoretical or practical limitations appear to contra-indicate the feasibility of the calibration method developed here.

Doty, Keith L↗

MISR Calibration and implications for low-light-level aerosol retrieval over dark water.

The authors push the limits of the vicarious calibration method’s accuracy, aiming to assess absolute, camera-to-camera, and band-toband radiometry. Patterns repeated over many well-constrained cases lend confidence to the results, at a few percent accuracy, as do additional vicarious calibration tests performed with multiplatform observations taken during the Chesapeake Lighthouse and Aircraft Measurements for Satellites (CLAMS) campaign. Conclusions are strongest in the red and green bands, but are too uncertain to accept for the near-infrared. MISR nadir-view and MODIS low-light-level absolute reflectances differ by about 4% in the blue and green bands, with MISR reporting higher values.

Clark, Dennis↗

Self calibrating autoTRAC

The work reported here demonstrates how to automatically compute the position and attitude of a targeting reflective alignment concept (TRAC) camera relative to the robot end effector. In the robotics literature this is known as the sensor registration problem. The registration problem is important to solve if TRAC images need to be related to robot position. Previously, when TRAC operated on the end of a robot arm, the camera had to be precisely located at the correct orientation and position. If this location is in error, then the robot may not be able to grapple an object even though the TRAC sensor indicates it should. In addition, if the camera is significantly far from the alignment it is expected to be at, TRAC may give incorrect feedback for the control of the robot. A simple example is if the robot operator thinks the camera is right side up but the camera is actually upside down, the camera feedback will tell the operator to move in an incorrect direction. The automatic calibration algorithm requires the operator to translate and rotate the robot arbitrary amounts along (about) two coordinate directions. After the motion, the algorithm determines the transformation matrix from the robot end effector to the camera image plane. This report discusses the TRAC sensor registration problem.

Everett, Louis J.↗

Digital cartography of the planets - New methods, its status, and its future

A system has been developed that establishes a standardized cartographic database for each of the 19 planets and major satellites that have been explored to date. Compilation of the databases involves both traditional and newly developed digital image processing and mosaicking techniques, including radiometric and geometric corrections of the images. Each database, or digital image model (DIM), is a digital mosaic of spacecraft images that have been radiometrically and geometrically corrected and photometrically modeled. During compilation, ancillary data files such as radiometric calibrations and refined photometric values for all camera lens and filter combinations and refined camera-orientation matrices for all images used in the mapping are produced. The system is designed to aid in the following: access to and utilization of spatial data returned by planetary spacecraft; coregistration of cartographic image and topographic elevation models with geological, geophysical, and geochemical databases; and the design and preparation of both standard and custom map products. A major goal of the project is to publish the DIMs on compact computer-compatible media such as digital-optical (CD-ROM) disks.

Batson, R. M.↗

Three dimensional vision - Requirements and applications in a space environment

Various approaches to three-dimensional vision in space are reviewed with emphasis on the redundant 3D vision system designed for the Center for Intelligent Robotic Systems for Space Exploration. The system uses a controllable subset of five cameras, programmable structured light patterns, and sophisticated calibration routines. The design emphasizes real-time operation, human supervisory intervention, and the use of 3D vision to enhance the performance of cooperating robotic arms. Two methods of estimating the location of a point using 3D vision are discussed.

Noseworthy, J. R.↗

[Research Award providing funds for a tracking video camera]

The award provided funds for a tracking video camera. The camera has been installed and the system calibrated. It has enabled us to follow in real time the tracks of individual wood ants (Formica rufa) within a 3m square arena as they navigate singly in-doors guided by visual cues. To date we have been using the system on two projects. The first is an analysis of the navigational strategies that ants use when guided by an extended landmark (a low wall) to a feeding site. After a brief training period, ants are able to keep a defined distance and angle from the wall, using their memory of the wall's height on the retina as a controlling parameter. By training with walls of one height and length and testing with walls of different heights and lengths, we can show that ants adjust their distance from the wall so as to keep the wall at the height that they learned during training. Thus, their distance from the base of a tall wall is further than it is from the training wall, and the distance is shorter when the wall is low. The stopping point of the trajectory is defined precisely by the angle that the far end of the wall makes with the trajectory. Thus, ants walk further if the wall is extended in length and not so far if the wall is shortened. These experiments represent the first case in which the controlling parameters of an extended trajectory can be defined with some certainty. It raises many questions for future research that we are now pursuing.

Collett, Thomas↗

Fluorescence Visualization of Hypersonic Flow over Rapid Prototype Wind-Tunnel Models

Reentry models for use in hypersonic wind tunnel tests were fabricated using a stereolithography apparatus. These models were produced in one day or less, which is a significant time savings compared to the manufacture of ceramic or metal models. The models were tested in the NASA Langley Research Center 31-Inch Mach 10 Air Tunnel. Most of the models did not survive repeated tests in the tunnel, and several failure modes of the models were identified. Planar laser-induced fluorescence (PLIF) of nitric oxide (NO) was used to visualize the flowfields in the wakes of these models. Pure NO was either seeded through tubes plumbed into the model or via a tube attached to the strut holding the model, which provided localized addition of NO into the model s wake through a porous metal cylinder attached to the end of the tube. Models included several 2-inch diameter Inflatable Reentry Vehicle Experiment (IRVE) models and 5-inch diameter Crew Exploration Vehicle (CEV) models. Various configurations were studied including different sting placements relative to the models, different model orientations and attachment angles, and different NO seeding methods. The angle of attack of the models was also varied and the location of the laser sheet was scanned to provide three-dimensional flowfield information. Virtual Diagnostics Interface technology, developed at NASA Langley, was used to visualize the data sets in post processing. The use of calibration "dotcards" was investigated to correct for camera perspective and lens distortions in the PLIF images. Lessons learned and recommendations for future experiments are discussed.

Alderfer, D. W.↗

Analysis of Photogrammetry Data from ISIM Mockup

During ground testing of the Integrated Science Instrument Module (ISIM) for the James Webb Space Telescope (JWST), the ISIM Optics group plans to use a Photogrammetry Measurement System for cryogenic calibration of specific target points on the ISIM composite structure and Science Instrument optical benches and other GSE equipment. This testing will occur in the Space Environmental Systems (SES) chamber at Goddard Space Flight Center. Close range photogrammetry is a 3 dimensional metrology system using triangulation to locate custom targets in 3 coordinates via a collection of digital photographs taken from various locations and orientations. These photos are connected using coded targets, special targets that are recognized by the software and can thus correlate the images to provide a 3 dimensional map of the targets, and scaled via well calibrated scale bars. Photogrammetry solves for the camera location and coordinates of the targets simultaneously through the bundling procedure contained in the V-STARS software, proprietary software owned by Geodetic Systems Inc. The primary objectives of the metrology performed on the ISIM mock-up were (1) to quantify the accuracy of the INCA3 photogrammetry camera on a representative full scale version of the ISIM structure at ambient temperature by comparing the measurements obtained with this camera to measurements using the Leica laser tracker system and (2), empirically determine the smallest increment of target position movement that can be resolved by the PG camera in the test setup, i.e., precision, or resolution. In addition, the geometrical details of the test setup defined during the mockup testing, such as target locations and camera positions, will contribute to the final design of the photogrammetry system to be used on the ISIM Flight Structure.

Nowak, Maria↗