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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 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1997

Detection of Obstacles in Monocular Image Sequences

The ability to detect and locate runways/taxiways and obstacles in images captured using on-board sensors is an essential first step in the automation of low-altitude flight, landing, takeoff, and taxiing phase of aircraft navigation. Automation of these functions under different weather and lighting situations, can be facilitated by using sensors of different modalities. An aircraft-based Synthetic Vision System (SVS), with sensors of different modalities mounted on-board, complements the current ground-based systems in functions such as detection and prevention of potential runway collisions, airport surface navigation, and landing and takeoff in all weather conditions. In this report, we address the problem of detection of objects in monocular image sequences obtained from two types of sensors, a Passive Millimeter Wave (PMMW) sensor and a video camera mounted on-board a landing aircraft. Since the sensors differ in their spatial resolution, and the quality of the images obtained using these sensors is not the same, different approaches are used for detecting obstacles depending on the sensor type. These approaches are described separately in two parts of this report. The goal of the first part of the report is to develop a method for detecting runways/taxiways and objects on the runway in a sequence of images obtained from a moving PMMW sensor. Since the sensor resolution is low and the image quality is very poor, we propose a model-based approach for detecting runways/taxiways. We use the approximate runway model and the position information of the camera provided by the Global Positioning System (GPS) to define regions of interest in the image plane to search for the image features corresponding to the runway markers. Once the runway region is identified, we use histogram-based thresholding to detect obstacles on the runway and regions outside the runway. This algorithm is tested using image sequences simulated from a single real PMMW image.

Kasturi, Rangachar↗
NASA NTRS2013

Implementation of Headtracking and 3D Stereo with Unity and VRPN for Computer Simulations

This paper explores low-cost hardware and software methods to provide depth cues traditionally absent in monocular displays. The use of a VRPN server in conjunction with a Microsoft Kinect and/or Nintendo Wiimote to provide head tracking information to a Unity application, and NVIDIA 3D Vision for retinal disparity support, is discussed. Methods are suggested to implement this technology with NASA's EDGE simulation graphics package, along with potential caveats. Finally, future applications of this technology to astronaut crew training, particularly when combined with an omnidirectional treadmill for virtual locomotion and NASA's ARGOS system for reduced gravity simulation, are discussed.

Noyes, Matthew A.↗
NASA NTRS2001

Stereomotion speed perception is contrast dependent

The effect of contrast on the perception of stimulus speed for stereomotion and monocular lateral motion was investigated for successive matches in random-dot stimuli. The familiar 'Thompson effect'--that a reduction in contrast leads to a reduction in perceived speed--was found in similar proportions for both binocular images moving in depth, and for monocular images translating laterally. This result is consistent with the idea that the monocular motion system has a significant input to the stereomotion system, and dominates the speed percept for approaching motion.

Motion Perception/physiology↗
NASA NTRS2000

Parabolic flight reveals independent binocular control of otolith-induced eye torsion

To examine otolith-governed ocular torsion in hyper- and hypogravity, eight subjects, including two astronauts, underwent parabolic flight while seated upright with head fixed. A mask fitted with two video cameras provided synchronized images of both eyes at a rate of 25/sec during 15 parabolas, the individual parabolas separated by a few minutes of level 1 G flight. Three main findings emerged: 1) After the first parabola, most subjects showed differential torsional offset of the two eyes in the 1 G portions between parabolas, compared to the conjugate baseline position of the eyes prior to the first parabola. 2) Changes in binocular torsion in the 0 G and 1.8 G portions of parabolic flight revealed in most subjects systematic reversal of direction. The reversal was consistent within, but not across subjects. 3) Disconjugacy defined as the moment-to-moment difference in the movements of the two eyes, and evaluated without the contribution of the differential offset, found two subjects with relatively high disconjugacy scores, and the remaining six with low scores. On the basis of prior studies (9, 20), we would predict the first two would be subject to SMS, the remainder not. The two astronauts, who did not have SMS on their space missions, fell into the low scoring group. We propose that the disconjugacies may be due to intrinsic asymmetries in the otolith receptors on the two sides of the head, which appear to be independently linked to the extraocular muscles of the two eyes, a phenomenon masked in normal 1 G states by adaptation. The apparently independent control of the two sides cannot be detected by the simpler and more common monocular studies.

Non-NASA Center↗
NASA NTRS1991

Efficient visual grasping alignment for cylinders

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Nicewarner, Keith E.↗
NASA NTRS1992

Efficient visual grasping alignment for cylinders

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Nicewarner, Keith E.↗
NASA NTRS2017

The Intelligent Landing System for Safe and Precise Landing on Europa

Europa, the smallest of Jupiter’s Galilean moons, is thought to harbor a vast liquid water ocean beneath its icy crust, making it one of the most scientifically intriguing targets for a robotic surface sampling mission in our Solar System. However, autonomously landing a spacecraft safely and precisely on Europa poses unique challenges, such as very little existing high-resolution reconnaissance imagery, a surface expected to be very rough and hazardous over a wide range of scales, an extremely intense ionizing radiation environment, and very limited lander resources for mass and volume. To address these challenges, we propose a novel Intelligent Landing System (ILS) combining four Guidance, Navigation & Control (GN&C) sensing functions – velocimetry, altimetry, map-relative localization, and hazard detection – that would together enable safe and precise landing on Europa’s surface. The ILS is a smart sensor system, combining an inertial measurement unit (IMU), a monocular, passive-optical camera, and a light detection and ranging (Li-DAR) sensor with dedicated computing resources as well as an onboard 3D terrain map. The ILS leverages more than a decade of technology development from programs such as the Lander Vision System, currently baselined on the Mars 2020 mission. This paper provides a detailed description of the proposed ILS architecture and concept of operations, as well as select preliminary simulation results to assess performance and robustness.

Trawny, Nikolas↗
NASA NTRSDate not supplied

Monocular Ranging for Small Unmanned Aerial Systems in the Far-Field

Recent proliferation of small Unmanned Aerial Systems (sUAS) applications requires onboard collision avoidance systems to mitigate the risk of collision with non-cooperative aircraft and manned aircraft, which may not see sUAS in time to perform an avoidance maneuver. An attractive avenue for onboard collision avoidance is the utilization of machine vision cameras due to their low size, weight and power (SWaP) requirements. In this paper, we characterize the range performance of a machine vision system developed in-house and mounted onto an sUAS. The technique was designed to estimate the performance of a sense-and-avoid system to ensure that the sensing components meet the well-clear requirements for the chosen platform and avoidance strategy. Experimental flight-test data was acquired from test-flights flown along multiple collision geometries for two intruders: a general Aviation (GA) aircraft and a fixed-wing sUAS. The ownship and both intruders were instrumented with inertial navigation systems (INS) recording position and attitude information. The range at first detection, 𝑹𝟎, was extracted from in-flight imagery of head-on collision course geometry synchronized with INS data from both aircraft and ground-truth values extracted from the raw imagery. This initial detection distance, 𝑹𝟎, scales with atmospheric attenuation. Therefore, under clear sky conditions, the derived 𝑹𝟎 value represents the upper bound on the detection range achievable by the test configuration of the detector. Results indicate that the maximum initial detection distance for a 4k resolution action camera fitted with a 41º Field of View (FOV) lens is 2.763 ± 0.037 km for a GA aircraft and 0.881 ± 0.061 km for a fixed-wing sUAS, respectively. The in results this study suggest that a vision-based detect and track system may be analyzed using the sensor characterization and contextualized within aircraft well-clear volumes.

Chester V. Dolph↗
NASA NTRS2001

Machine vision guided sensor positioning system for leaf temperature assessment

A sensor positioning system was developed for monitoring plants' well-being using a non-contact sensor. Image processing algorithms were developed to identify a target region on a plant leaf. A novel algorithm to recover view depth was developed by using a camera equipped with a computer-controlled zoom lens. The methodology has improved depth recovery resolution over a conventional monocular imaging technique. An algorithm was also developed to find a maximum enclosed circle on a leaf surface so the conical field-of-view of an infrared temperature sensor could be filled by the target without peripheral noise. The center of the enclosed circle and the estimated depth were used to define the sensor 3-D location for accurate plant temperature measurement.

NASA Discipline Life Support Systems↗
NASA NTRS1991

Pictorial communication in virtual and real environments

Papers about the communication between human users and machines in real and synthetic environments are presented. Individual topics addressed include: pictorial communication, distortions in memory for visual displays, cartography and map displays, efficiency of graphical perception, volumetric visualization of 3D data, spatial displays to increase pilot situational awareness, teleoperation of land vehicles, computer graphics system for visualizing spacecraft in orbit, visual display aid for orbital maneuvering, multiaxis control in telemanipulation and vehicle guidance, visual enhancements in pick-and-place tasks, target axis effects under transformed visual-motor mappings, adapting to variable prismatic displacement. Also discussed are: spatial vision within egocentric and exocentric frames of reference, sensory conflict in motion sickness, interactions of form and orientation, perception of geometrical structure from congruence, prediction of three-dimensionality across continuous surfaces, effects of viewpoint in the virtual space of pictures, visual slant underestimation, spatial constraints of stereopsis in video displays, stereoscopic stance perception, paradoxical monocular stereopsis and perspective vergence. (No individual items are abstracted in this volume)

Ellis, Stephen R.↗
NASA NTRS2002

Monocular motion adaptation affects the perceived trajectory of stereomotion

Perceived stereomotion trajectory was measured before and after adaptation to lateral motion in the dominant or nondominant eye to assess the relative contributions of 2 cues: changing disparity and interocular velocity difference. Perceived speed for monocular lateral motion and perceived binocular visual direction (BVD) was also assessed. Unlike stereomotion trajectory perception, the BVD of static targets showed an ocular dominance bias, even without adaptation. Adaptation caused equivalent biases in perceived trajectory and monocular motion speed, without significantly affecting perceived BVD. Predictions from monocular motion data closely match trajectory perception data, unlike those from BVD sources. The results suggest that the interocular velocity differences make a significant contribution to stereomotion trajectory perception.

Depth Perception/physiology↗
NASA NTRS2004

Stereomotion speed perception: contributions from both changing disparity and interocular velocity difference over a range of relative disparities

The role of two binocular cues to motion in depth-changing disparity (CD) and interocular velocity difference (IOVD)- was investigated by measuring stereomotion speed discrimination and static disparity discrimination performance (stereoacuity). Speed discrimination thresholds were assessed both for random dot stereograms (RDS), and for their temporally uncorrelated equivalents, dynamic random dot stereograms (DRDS), at relative disparity pedestals of -19, 0, and +19 arcmin. While RDS stimuli contain both CD and IOVD cues, DRDS stimuli carry only CD information. On average, thresholds were a factor of 1.7 higher for DRDS than for RDS stimuli with no clear effect of relative disparity pedestal. Results were similar for approaching and receding targets. Variations in stimulus duration had no significant effect on thresholds, and there was no observed correlation between stimulus displacement and perceived speed, confirming that subjects responded to stimulus speed in each condition. Stereoacuity was equally good for our RDS and DRDS stimuli, showing that the difference in stereomotion speed discrimination performance for these stimuli was not due to any difference in the precision of the disparity cue. In addition, when we altered stereomotion stimulus trajectory by independently manipulating the speeds and directions of its monocular half-images, perceived stereomotion speed remained accurate. This finding is inconsistent with response strategies based on properties of either monocular half-image motion, or any ad hoc combination of the monocular speeds. We conclude that although subjects are able to discriminate stereomotion speed reliably on the basis of CD information alone, IOVD provides a precise additional cue to stereomotion speed perception.

Depth Perception/physiology↗
NASA NTRS1992

Vision-based range estimation using helicopter flight data

Pilot aiding during low-altitude flight depends on the ability to detect and locate obstacles near the helicopter's intended flightpath. Computer-vision-based methods provide one general approach for obstacle detection and range estimation. Several algorithms have been developed for this purpose, but have not been tested with actual flight data. This paper presents results obtained using helicopter flight data with a feature-based range estimation algorithm. A method for recursively estimating range using a Kalman filter with a monocular sequence of images and knowledge of the camera's motion is described. The helicopter flight experiment and four resulting datasets are discussed. Finally the performance of the range estimation algorithm is explored in detail based on comparison of the range estimates with true range measurements collected during the flight experiment.

Smith, Philip N.↗
NASA NTRS1992

Vision-based range estimation using helicopter flight data

Pilot aiding during low-altitude flight depends on the ability to detect and locate obstacles near the helicopter's intended flightpath. Computer-vision-based methods provide one general approach for obstacle detection and range estimation. Several algorithms have been developed for this purpose, but have not been tested with actual flight data. This paper presents results obtained using helicopter flight data with a feature-based range estimation algorithm. A method for recursively estimating range using a Kalman filter with a monocular sequence of images and knowledge of the camera's motion is described. The helicopter flight experiment and one of four resulting datasets is briefly discussed. Finally the performance of the range estimation algorithm is explored based on comparison of the range estimates with true range measurements collected during the flight experiment.

Smith, Phillip N.↗
NASA NTRS1992

Vision-based range estimation using helicopter flight data

Pilot aiding during low-altitude flight depends on the ability to detect and locate obstacles near the helicopter's intended flightpath. Computer-vision-based methods provide one general approach for obstacle detection and range estimation. Several algorithms have been developed for this purpose, but have not been tested with actual flight data. This paper presents results obtained using helicopter flight data with a feature-based range estimation algorithm. A method for recursively estimating range using a Kalman filter with a monocular sequence of images and knowledge of the camera's motion is described. The helicopter flight experiment and four resulting datasets are discussed. Finally the performance of the range estimation algorithm is explored in detail based on comparison of the range estimates with true range measurements collected during the flight experiment.

Smith, Phillip N.↗
NASA NTRS1989

Helmet-mounted pilot night vision systems: Human factors issues

Helmet-mounted displays of infrared imagery (forward-looking infrared (FLIR)) allow helicopter pilots to perform low level missions at night and in low visibility. However, pilots experience high visual and cognitive workload during these missions, and their performance capabilities may be reduced. Human factors problems inherent in existing systems stem from three primary sources: the nature of thermal imagery; the characteristics of specific FLIR systems; and the difficulty of using FLIR system for flying and/or visually acquiring and tracking objects in the environment. The pilot night vision system (PNVS) in the Apache AH-64 provides a monochrome, 30 by 40 deg helmet-mounted display of infrared imagery. Thermal imagery is inferior to television imagery in both resolution and contrast ratio. Gray shades represent temperatures differences rather than brightness variability, and images undergo significant changes over time. The limited field of view, displacement of the sensor from the pilot's eye position, and monocular presentation of a bright FLIR image (while the other eye remains dark-adapted) are all potential sources of disorientation, limitations in depth and distance estimation, sensations of apparent motion, and difficulties in target and obstacle detection. Insufficient information about human perceptual and performance limitations restrains the ability of human factors specialists to provide significantly improved specifications, training programs, or alternative designs. Additional research is required to determine the most critical problem areas and to propose solutions that consider the human as well as the development of technology.

Hart, Sandra G.↗
NASA NTRS2010

Part-Task Simulation of Synthetic and Enhanced Vision Concepts for Lunar Landing

During Apollo, the constraints placed by the design of the Lunar Module (LM) window for crew visibility and landing trajectory were a major problem. Lunar landing trajectories were tailored to provide crew visibility using nearly 70 degrees look-down angle from the canted LM windows. Apollo landings were scheduled only at specific times and locations to provide optimal sunlight on the landing site. The complications of trajectory design and crew visibility are still a problem today. Practical vehicle designs for lunar lander missions using optimal or near-optimal fuel trajectories render the natural vision of the crew from windows inadequate for the approach and landing task. Further, the sun angles for the desirable landing areas in the lunar polar regions create visually powerful, season-long shadow effects. Fortunately, Synthetic and Enhanced Vision (S/EV) technologies, conceived and developed in the aviation domain, may provide solutions to this visibility problem and enable additional benefits for safer, more efficient lunar operations. Piloted simulation evaluations have been conducted to assess the handling qualities of the various lunar landing concepts, including the influence of cockpit displays and the informational data and formats. Evaluation pilots flew various landing scenarios with S/EV displays. For some of the evaluation trials, an eye glasses-mounted, monochrome monocular display, coupled with head tracking, was worn. The head-worn display scene consisted of S/EV fusion concepts. The results of this experiment showed that a head-worn system did not increase the pilot s workload when compared to using just the head-down displays. As expected, the head-worn system did not provide an increase in performance measures. Some pilots commented that the head-worn system provided greater situational awareness compared to just head-down displays.

Arthur, Jarvis J., III↗