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At least 325 records · Page 18

Timber inventory using Landsat

The results of recent efforts to apply Landsat MSS imagery, in concert with topological maps, to forestry timber inventories via the FOCIS program are reported. FOCIS (Forests Classification and Inventory System) was defined for inventorying the lumber volume of coniferous tree types in rugged terrain regions. Data from four bands serve as input for unsupervised clustering and iterative labeling of the elevation, slope angle, and subregions of interest. Simulated photographic maps are generated which serve as overlays for regular maps for assessing timber harvests and sales goals. Sample procedures followed in mapping the Eldorado region forests in the Sierra Nevada mountains are discussed.

Strahler, A. H.↗

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

The author has identified the following significant results. The initial analysis of EREP data from the SL-2 mission has been undertaken. Snow distributions are being mapped from the S190A photography for three mountain areas: the Sierra Nevadas; the Cascades near Washington-Oregon border; and the Wasatch Range in Utah. In the S192 screening film, a dramatic reversal in the reflectance of the snow in the Wasatch Range is observed between the visible and near IR channels. In channel 2 (0.46 - 0.51 microns) the snow has a high reflectance, whereas in channel 11 (1.55 - 1.75 microns) the snow appears almost black, having a much lower reflectance than the surrounding terrain. The sharp drop in reflectance in the near IR channel is believed to be due to the existence of melt water on the snow surface. Although investigators have reported this effect previously using ERTS-1 imagery, the S192 data provides the first opportunity to study quantitatively the snow reflectance in several visible and near IR channels. The results will have direct application for developing a technique to determine the condition of the snow surface (i.e., dry of melting), a significant parameter in snow hydrology.

Barnes, J. C.↗

Design and Analysis of Map Relative Localization for Access to Hazardous Landing Sites on Mars

Human and robotic planetary lander missions require accurate surface relative position knowledge to land near science targets or next to pre-deployed assets. In the absence of GPS, accurate position estimates can be obtained by automatically matching sensor data collected during descent to an on-board map. The Lander Vision System (LVS) that is being developed for Mars landing applications generates landmark matches in descent imagery and combines these with inertial data to estimate vehicle position, velocity and attitude. This paper describes recent LVS design work focused on making the map relative localization algorithms robust to challenging environmental conditions like bland terrain, appearance differences between the map and image and initial input state errors. Improved results are shown using data from a recent LVS field test campaign. This paper also fills a gap in analysis to date by assessing the performance of the LVS with data sets containing significant vertical motion including a complete data set from the Mars Science Laboratory mission, a Mars landing simulation, and field test data taken over multiple altitudes above the same scene. Accurate and robust performance is achieved for all data sets indicating that vertical motion does not play a significant role in position estimation performance.

Lander Vision System↗

The cartographic application of ERTS/RBV imagery in polar regions

The author has identified the following significant results. Results of the SR-149 experiments demonstrated the feasibility of revising coastlines on maps of Antarctica, detected gross changes in the northern limits of the three largest ice shelves in the world, and led to the discovery of unmapped geographical features in Antarctica. Analyses of MSS imagery during the investigations show positive identification and obvious changes in size, shape, and position of such features as glaciers, ice tongues, ice shelves, and fast ice when compared to the existing USGS 1:250,000 scale maps. Investigations also pointed out that accurate and meaningful photoimage mosaics can be compiled at scales of 1:500,000 and 1:1,000,000 over the Polar Regions. With respect to the Antarctic region, many thousands of square miles can be image mapped for the very first time if cloud-free imagery becomes available and at a great reduction in cost of compilation. The international scientific community will benefit from such timely products. Current maps are a necessity for proper planning for field operations, especially over the treacherous terrain of the Antarctic.

Macdonald, W. R.↗

Path Following with Slip Compensation for a Mars Rover

A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual odometry, full vehicle kinematics, a Kalman filter, and path following with slip compensation. The visual-odometry algorithm tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs, by use of a maximum-likelihood motion-estimation algorithm. The full-vehicle kinematics algorithm estimates motion, with a no-slip assumption, from measured wheel rates, steering angles, and angles of rockers and bogies in the rover suspension system. The Kalman filter merges data from an inertial measurement unit (IMU) and the visual-odometry algorithm. The merged estimate is then compared to the kinematic estimate to determine whether and how much slippage has occurred. The kinematic estimate is used to complement the Kalman-filter estimate if no statistically significant slippage has occurred. If slippage has occurred, then a slip vector is calculated by subtracting the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the wheel velocities and steering angles needed to compensate for slip and follow the desired path.

Helmick, Daniel↗

Real-World Testing of LiDAR-Inertial Based Navigation and Mapping for Precision Landing

The fusion of LiDAR and inertial measurements duringspacecraft descent and landing can be used to estimate alander’s navigation state and map the terrain below. Together,these data products can be used to enable safe and preciselanding on celestial bodies for which a priori orbital reconnaissanceis insufficient for hazard detection and avoidance.Unlike camera images used in visual terrain relative navigation,LiDAR scans are insensitive to changes in illumination; as aresult, the technique can be used to land in poorly lit areas,or at times of day when the lighting conditions are incongruentwith existing orbital imagery. In this paper, we extend previouswork in which we introduced a factor graph based smoothingapproach for LiDAR-inertial navigation and mapping. Whereasthe algorithms were previously tested on simulated data, thispaper presents testing on real-world data. Data from theAutonomous Landing Hazard Avoidance Technology (ALHAT)airplane flight tests in the Yucca Flats and Death Valley in2009 (FT3), the Morpheus vertical take off and landing flighttests at Kennedy Space Center in 2014 (FT6), and the landingof Perseverance and Ingenuity on Mars in 2021 (M2020) wereused to evaluate algorithm performance. In this paper, weextend our LiDAR-inertial technique to work with a variety ofranging technologies: single point laser altimetry (FT3), denseflash LiDAR (FT6), and six-beam radar (M2020). A thoroughperformance analysis for all three datasets is presented. Datasetpreparation, improvements in algorithm robustness, and outlierrejection, which were necessitated by the transition to realworlddata, are discussed.

Trawny, Nikolas↗

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↗

3D Lunar Terrain Reconstruction from Apollo Images

Generating accurate three dimensional planetary models is becoming increasingly important as NASA plans manned missions to return to the Moon in the next decade. This paper describes a 3D surface reconstruction system called the Ames Stereo Pipeline that is designed to produce such models automatically by processing orbital stereo imagery. We discuss two important core aspects of this system: (1) refinement of satellite station positions and pose estimates through least squares bundle adjustment; and (2) a stochastic plane fitting algorithm that generalizes the Lucas-Kanade method for optimal matching between stereo pair images.. These techniques allow us to automatically produce seamless, highly accurate digital elevation models from multiple stereo image pairs while significantly reducing the influence of image noise. Our technique is demonstrated on a set of 71 high resolution scanned images from the Apollo 15 mission

Broxton, Michael J.↗

Path following using visual odometry for Mars Rover in high-slip environments.

An architecture for autonomous operation of Mars rovers in high slip environments has been designed, implemented, and tested. This architecture is composed of several key technologies that enable the rover to accurately follow a designated path, compensate for slippage, and reach intended goals independent of the terrain over which it is traversing (within the mechanical constraints of the mobility system). These technologies include: visual odometry, full vehicle kinematics, a Kalman filter, and a slop compensation/path follower. Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs using a maximum likelihood motion estimation algorithm. The full vehicle kinematics for a rocker-bogie suspension system estimates motion, with a no-slip assumption, by measuring wheel, rates, and rocker, bogie, and steering angles. The Kalman filter merges data from an Inertial Measurement Unit (IMU) and visual odometry. This merged estimate is then compared to the kinematic estimate to determining (tracking into account estimate uncertainties) if and how much slippage has occurred then a slip vector is calculated by differencing the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the necessary wheel velocities and steering angles to compensate for slip and follow the desired path.

Roumeliotis, Stergios I.↗

Celestial Mapping System

Celestial Mapping System (CMS) is a software platform developed by Dr. Agrawal’s team to generate virtual 3D globes for celestial bodies. Various layers are built on top of the virtual globe to provide visualization for high-resolution imagery, enable precise measurements, build analytical capabilities and broad range of functionalities to assist planetary scientists and mission planners. In her June 14th presentation, Dr. Agrawal will showcase the user interactive software platform to virtually travel the lunar terrain, place rovers and instruments on the surface of the moon and perform measurements of various geological features including permanently shadowed regions. Her team’s future goals include building interactive 3D globes for other planetary bodies such as Venus, Mars, and Titan in the solar system.

GIS system↗

Building a 2.5D Digital Elevation Model from 2D Imagery

When projecting imagery into a georeferenced coordinate frame, one needs to have some model of the geographical region that is being projected to. This model can sometimes be a simple geometrical curve, such as an ellipse or even a plane. However, to obtain accurate projections, one needs to have a more sophisticated model that encodes the undulations in the terrain including things like mountains, valleys, and even manmade structures. The product that is often used for this purpose is a Digital Elevation Model (DEM). The technology presented here generates a high-quality DEM from a collection of 2D images taken from multiple viewpoints, plus pose data for each of the images and a camera model for the sensor. The technology assumes that the images are all of the same region of the environment. The pose data for each image is used as an initial estimate of the geometric relationship between the images, but the pose data is often noisy and not of sufficient quality to build a high-quality DEM. Therefore, the source imagery is passed through a feature-tracking algorithm and multi-plane-homography algorithm, which refine the geometric transforms between images. The images and their refined poses are then passed to a stereo algorithm, which generates dense 3D data for each image in the sequence. The 3D data from each image is then placed into a consistent coordinate frame and passed to a routine that divides the coordinate frame into a number of cells. The 3D points that fall into each cell are collected, and basic statistics are applied to determine the elevation of that cell. The result of this step is a DEM that is in an arbitrary coordinate frame. This DEM is then filtered and smoothed in order to remove small artifacts. The final step in the algorithm is to take the initial DEM and rotate and translate it to be in the world coordinate frame [such as UTM (Universal Transverse Mercator), MGRS (Military Grid Reference System), or geodetic] such that it can be saved in a standard DEM format and used for projection.

Padgett, Curtis W.↗

Long wavelength radar for geological analysis in vegetated terrain

In contrast to shorter wavelength radars, the range of returns from vegetated surfaces is appreciably less at L-band frequencies. However, the evaluation of differences in image quality due to changes in operational frequency is hindered by several system dissimilarities. In particular, a comparison of the Ka, X- and L-band radar imagery is difficult because of differences in 'effective' resolution. Though the physical resolution of these systems may be somewhat comparable, the inherent averaging of the real aperture systems (X-and Ka-) provides an apparent wider range of gray tones. This effect is related to the fact that at a scale where the resolution cell is discernable, the coherent scintillation of 'speckle' of the synthetic aperture L-band system masks tonal variations. This mismatch of effective resolution impedes detection of small changes in gray tone and makes subtle boundary changes less distinct.

Macdonald, H. C.↗

Synthetic aperture radar imagery of airports and surrounding areas: Study of clutter at grazing angles and their polarimetric properties

The statistical description of ground clutter at an airport and in the surrounding area is addressed. These data are being utilized in a program to detect microbursts. Synthetic aperture radar data were collected at the Denver Stapleton Airport. Mountain terrain data were examined to determine if they may potentially contribute to range ambiguity problems and degrade microburst detection. Results suggest that mountain clutter may not present a special problem source. The examination of clutter at small grazing angles was continued by examining data collected at especially low altitudes. Cultural objects such as buildings produce strong sources of backscatter at angles of about 85 deg, with responses of 30 dB to 60 dB above the background. Otherwise there are a few sources which produce significant scatter. The polarization properties of hydrospheres and clutter were examined with the intent of determining the optimum polarization. This polarization was determined to be dependent upon the ratio of VV and HH polarizations of both rain and ground clutter.

Onstott, Robert G.↗

Systematically tracking the hourly progression of large wildfires using GOES satellite observations

Abstract. In the western United States, prolonged drought, a warming climate, and historical fuel buildup have contributed to larger and more intense wildfires as well as to longer fire seasons. As these costly wildfires become more common, new tools and methods are essential for improving our understanding of the evolution of fires and how extreme weather conditions, including heat waves, windstorms, droughts, and varying levels of active-fire suppression, influence fire spread. Here, we develop the Geostationary Operational Environmental Satellites (GOES)-Observed Fire Event Representation (GOFER) algorithm to derive the hourly fire progression of large wildfires and create a product of hourly fire perimeters, active-fire lines, and fire spread rates. Using GOES-East and GOES-West geostationary satellite detections of active fires, we test the GOFER algorithm on 28 large wildfires in California from 2019 to 2021. The GOFER algorithm includes parameter optimizations for defining the burned-to-unburned boundary and correcting for the parallax effect from elevated terrain. We evaluate GOFER perimeters using 12 h data from the Visible Infrared Imaging Radiometer Suite (VIIRS)-derived Fire Event Data Suite (FEDS) and final fire perimeters from the California's Fire and Resource Assessment Program (FRAP). Although the GOES imagery used to derive GOFER has a coarser resolution (2 km at the Equator), the final fire perimeters from GOFER correspond reasonably well to those obtained from FRAP, with a mean Intersection-over-Union (IoU) of 0.77, in comparison to 0.83 between FEDS and FRAP; the IoU indicates the area of overlap over the area of the union relative to the reference perimeters, in which 0 is no agreement and 1 is perfect agreement. GOFER fills a key temporal gap present in other fire tracking products that rely on low-Earth-orbit imagery, where perimeters are available at intervals of 12 h or longer or at ad hoc intervals from aircraft overflights. This is particularly relevant when a fire spreads rapidly, such as at maximum hourly spread rates of over 5 km h−1. Our GOFER algorithm for deriving the hourly fire progression using GOES can be applied to large wildfires across North and South America and reveals considerable variability in the rates of fire spread on diurnal timescales. The resulting GOFER product has a broad set of potential applications, including the development of predictive models for fire spread and the improvement of atmospheric transport models for surface smoke estimates. The resulting GOFER product has a broad set of potential applications, including the development of predictive models for fire spread and the improvement of atmospheric transport models for surface smoke estimates (https://doi.org/10.5281/zenodo.8327264, Liu et al., 2023).

Geology↗

Use of remote sensing in agriculture

The remote sensing studies of (a) cultivated peanut areas in Southeastern Virginia; (b) studies at the Virginia Truck and Ornamentals Research Station near Painter, Virginia, the Eastern Virginia Research Station near Warsaw, Virginia, the Tidewater Research and Continuing Education Center near Suffolk, Virginia, and the Southern Piedmont Research and Continuing Education Center Blackstone, Virginia; and (c) land use classification studies at Virginia Beach, Virginia are presented. The practical feasibility of using false color infrared imagery to detect and determine the areal extent of peanut disease infestation of Cylindrocladium black rot and Sclerotinia blight is demonstrated. These diseases pose a severe hazard to this major agricultural food commodity. The value of remote sensing technology in terrain analyses and land use classification of diverse land areas is also investigated. Continued refinement of spectral signatures of major agronomic crops and documentation of pertinent environmental variables have provided a data base for the generation of an agricultural-environmental prediction model.

Pettry, D. E.↗

Temperature, Humidity, and Time-Lapse Video Data from Yosemite National Park, Water Year 2024

This dataset contains time-lapse imagery and distributed measurements of air temperature, relative humidity, dew point, and soil temperature across Yosemite National Park from October 2023 to September 2024. Instruments were deployed at 10 sites in two cross-valley transects as part of the DOE Grant: Seasonal Cycles Unravel Mysteries of Missing Mountain Water organized by Jessica Lundquist (University of Washington), Rosemary Carroll (Desert Research Institute), and Ethan Gutmann (National Center for Atmospheric Research). The data are intended to support hydrologic modeling efforts to better resolve the fate of mountain water, and are published to support studies of surface climate or hydrologic processes in complex terrain. Measurements were collected with low-cost data loggers installed 2 m high on evergreen trees or buried just below the soil surface. A time-lapse camera at one site captures valley-scale seasonal snow cover variability.Dataset files are organized by site and variable (air measurements, ground measurements, or time-lapse video). Air and ground measurements are packaged in LoggerData.zip, and time-lapse imagery is compiled into a short video stored in TimelapseVideos.zip. File-level metadata contains details for each file included in the dataset. A data dictionary provides units and descriptions for column or row names in all files. The locations metadata file describes site characteristics, locations, and associated GPS methods.

54 ENVIRONMENTAL SCIENCES↗

Precision annotation of predetermined primary sampling units on ERTS-1 MSS images

Resectioning programs were developed for projecting the boundary corners of sample units, management units, and counties into U2 RC-10 and ERTS-1 MSS images. The technique used includes corrections for earth curvature, terrain elevation, and MSS distortions. The minimum standard error obtained was about 0.15 mm or 150 meters on the ground. This technique now makes it possible to include land ownership as an integral part of forest resource sampling plans using ERTS imagery.

Vanroessel, J. W.↗

The crustal tectonics and history of Europa: A structural, morphological, and comparative analysis

An evaluation of surface features and structures on the Galilean moon Europa is made using the available high resolution Voyager imagery, low resolution support imaging, and what understanding of ice structure and mechanical behavior science has that is applicable to the problem. A general discussion of the history of Europa studies and the fundamental global morphology is undertaken. The visible lineament and terrain patterns are described, and possible origins discussed. Observations of faulting and block rotation previously described are amplified. A comparison of Europa's structures to terrestrial sea ice and lava lake crust features is also included. Finally, an attempt is made at synthesizing a unified model for the evolution of Europa's crust is presented which is compared with models developed by others.

Schenk, P. M.↗