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Transfer characteristic of vidicons and other image sensors are measured by light from a calibrated electroluminescent panel as a function of the current output of the image sensor. The plot of current output versus the calibrated light output is the transfer characteristic.
This paper presents a method for evaluating the amount of clutter in a region where autonomous vehicles in a multi-agent system must operate based on LIDAR point cloud measurements. The point cloud is used to generate an occupancy grid which is then projected onto a 2D plane of vehicle motion, constituting an image. A series of Gaussian radial basis functions (GRBFs) is created, each centered at an occupied pixel in a 2D image, and summed together to form the clutter field. The clutter field is a representation of the density and permeability of the space at each coordinate. The clutter field is then approximated such that iso-clutter contours are simple geometric objects so that intelligent machine assets can easily query the distance between them and any given point in an environment. In this way, agents are able to determine whether to enter into or steer away from areas of interest. Each vehicle has a clutter threshold representing the clutter value of the space in which it can safely maneuver. The iso-clutter contour corresponding to a vehicle’s clutter threshold is treated as the boundary of an obstacle to be avoided. A simulation is presented where a multi-agent system is tasked with persistent observation of a cluttered area. Each vehicle in the simulation has a different clutter threshold. The vehicles use a potential field-based guidance algorithm, and an allocation of vehicles to specific regions of the space emerges.
The constrained optimization problem for image restoration, utilizing incomplete information and partial constraints, is formulated using nonlinear proramming techniques. This method restores a distorted image by optimizing a chosen object function subject to available constraints. The penalty function method of nonlinear programming is used. Both linear or nonlinear object function, and linear or nonlinear constraint functions can be incorporated in the formulation. This formulation provides a generalized approach to solve constrained optimization problems for image restoration. Experiments using this scheme have been performed. The results are compared with those obtained from other restoration methods and the comparative study is presented.
In the nearest star-forming regions, protoplanetary disks have angular sizes of only 3-4". Millimeter interferometry has generally been limited to a resolution of 1". Groundbased coronagraphic imaging of YSOs has been restricted to radii exterior to an occulting mask (r >2"), and detect nebulosity only in the most extreme dusty systems. The Hubble Space Telescope (HST) is the only observatory which can provide a spatial resolution of approx. 10 AU in combination with a stable point-spread function for high dynamic range imaging at visual wavelengths. Since the December 1993 servicing mission, only 12 nearby young stars have been observed by HST with the sensitivity needed to detect circumstellar reflection nebulosity. All six of the classical T Tauri stars observed so far have shown nebulosity; three objects are compact bipolar nebulae without an optically visible star; and the three weak-line T Tauri stars observed show no evidence for circumstellar nebulosity. Disks have been directly observed in 3 of the 12 systems studied so far: HH 30, GM Aurigae, and Haro 6-5B. A larger survey offers the prospect of many more detections, and thereby can address such fundamental questions as: What is the frequency for direct detection of disks around premain sequence stars? What is the range of disk masses and sizes? How are disks different in binary systems? Our proposal for an HST T Tauri Star SNAPshot survey was approved for 75 targets in Cycle 7. A SNAPshot survey consists of short-duration (25 minutes or less) sequences of observations which can be used to fill gaps in the HST observing schedule. This is well-matched to the needs of disk imaging, where typical T Tauri stars (11 < V < 14) saturate the WFPC2 detectors in a minute or less. Only wide-band R and I images will be taken.
We use the moments of the X-ray surface brightness distribution to constrain the dynamical state of a galaxy cluster. Using X-ray observations from the Einstein Observatory IPC, we measure the first moment FM, the ellipsoidal orientation angle, and the axial ratio at a sequence of radii in the cluster. We argue that a significant variation in the image centroid FM as a function of radius is evidence for a nonequilibrium feature in the intracluster medium (ICM) density distribution. In simple terms, centroid shifts indicate that the center of mass of the ICM varies with radius. This variation is a tracer of continuing dynamical evolution. For each cluster, we evaluate the significance of variations in the centroid of the IPC image by computing the same statistics on an ensemble of simulated cluster images. In producing these simulated images we include X-ray point source emission, telescope vignetting, Poisson noise, and characteristics of the IPC. Application of this new method to five Abell clusters reveals that the core of each one has significant substructure. In addition, we find significant variations in the orientation angle and the axial ratio for several of the clusters.
The use of a starshade is one technique to perform high contrast imaging with space-based telescopes. The primary function of a starshade is to suppress light from a target star in order to image its orbiting planets. In order to provide the proper apodization function the edges of the starshade must follow a precise in-plane profile. However of equal importance is the issue of light from our own sun scattering off of the edges and entering the telescope. A method to alleviate this problem is to make the edges extremely sharp (< 1 µmterminal radius) such that the area available for scattering is minimized. The combination of these two requirements, along with the need to integrate the edges into a 30-40 m dia. deployable structure, present a number of significant engineering challenges. Substrate etching techniques are used to obtain both the intended profile as well as the edge sharpness. Current efforts implement an isotropic etching process on thin metal substrates. This paper discusses the progress towards producing a sharp optical edge at the coupon level. Samples have been characterized using scanning electron microscopy as well as a custom testbed to assess their scattered-light performance.
The Solar Probe will provide an ideal platform from which to study dynamics of dust particles near the sun by measuring the detailed character of the Fraunhofer structure of the zodiacal light. The suggested instrument is a wideband imaging Fabry-Perot interferometer with state of the art technology in both the optics and the detector. The instrument would function as a high-resolution imaging device providing wavelength resolution of 0.03 A over about a 20 A range. The wideband imaging capability would provide sky maps of the zodiacal light on a despun spacecraft without mechanical scanning. The Solar Probe mission would allow the velocity distribution of the dust to be mapped along most of the trajectory of the spacecraft.
The influence of the shape of atmospheric scattering phase functions on blurring of surface detail in images acquired from space is investigated. The effects are characterized by computing atmospheric transfer functions and by solving the multidimensional equation of radiative transfer using a Fourier transform method. It is predicted that increased forward scattering enhances the detectability of atmospheric blurring near reflectance boundaries. Results for off-nadir viewing are also presented.
IPLIB is a collection of HP FORTRAN 77 subroutines and functions that facilitate the use of a COMTAL image processing system driven by an HP-1000 computer. It is intended for programmers who want to use the HP 1000 to drive the COMTAL Vision One/20 system. It is assumed that the programmer knows HP 1000 FORTRAN 77 or at least one FORTRAN dialect. It is also assumed that the programmer has some familiarity with the COMTAL Vision One/20 system.
NASA has developed an image processor, the Programmable Remapper, for certain functions in machine vision. The Remapper performs a highly arbitrary geometric warping of an image at video rate. It might ultimately be shrunk to a size and cost that could allow its use in a low-vision prosthesis. Coordinate warpings have been developed for retinitis pigmentosa (tunnel vision) and for maculapathy (loss of central field) that are intended to make best use of the patient's remaining viable retina. The rationales and mathematics are presented for some warpings that we will try in clinical studies using the Remapper's prototype.
A LANDSAT scene simulation capability was developed to study the effects of small fields and misregistration on LANDSAT-based crop proportion estimation procedures. The simulation employs a pattern of ground polygons each with a crop ID, planting date, and scale factor. Historical greenness/brightness crop development profiles generate the mean signal values for each polygon. Historical within-field covariances add texture to pixels in each polygon. The planting dates and scale factors create between-field/within-crop variation. Between field and crop variation is achieved by the above and crop profile differences. The LANDSAT point spread function is used to add correlation between nearby pixels. The next effect of the point spread function is to blur the image. Mixed pixels and misregistration are also simulated.
A Landsat scene simulation capability was developed to study the effects of small fields and misregistration on Landsat-based crop proportion estimation procedures. The simulation employs a pattern of ground polygons each with a crop ID, planting date, and scale factor. Historical greenness/brightness crop development profiles generate the mean signal values for each polygon. Historical within-field covariances add texture to pixels in each polygon. The planting dates and scale factors create between-field/within-crop variation. Between field and crop variation is achieved by the above and crop profile differences. The Landsat point spread function is used to add correlation between nearby pixels. The next effect of the point spread function is to blur the image. Mixed pixels and misregistration are also simulated. Previously announced in STAR as N82-32813
An interactive digital image processing program package was developed that runs on the University of Kansas central computer, a Honeywell Level 66 multi-processor system. The module form of the package allows easy and rapid upgrades and extensions of the system and is used in remote sensing courses in the Department of Geography, in regional five-day short courses for academics and professionals, and also in remote sensing projects and research. The package comprises three self-contained modules of processing functions: Subimage extraction and rectification; image enhancement, preprocessing and data reduction; and classification. Its use in a typical course setting is described. Availability and costs are considered.
Precise corrections of Landsat data are useful for generating land-use maps, detecting various crops and determining their acreage, and detecting changes. The paper discusses computer processing and visualization techniques for Landsat data so that users can get more information from the imagery. The elementary unit of data in each band of each scene is the integrated value of intensity of reflected light detected in the field of view by each sensor. To develop the basic mathematical approach for precision correction of the data, differences between positions of ground control points on the reference map and the observed control points in the scene are used to evaluate the coefficients of cubic time functions of roll, pitch, and yaw, and a linear time function of altitude deviation from normal height above local earth's surface. The resultant equation, termed a mapping function, corrects the warped data image into one that approximates the reference map. Applications are discussed relative to shade prints, extraction of road features, and atlas of cities.
Fractals embody important ideas of self-similarity, in which the spatial behavior or appearance of a system is largely independent of scale. Self-similarity is defined as a property of curves or surfaces where each part is indistinguishable from the whole, or where the form of the curve or surface is invariant with respect to scale. An ideal fractal (or monofractal) curve or surface has a constant dimension over all scales, although it may not be an integer value. This is in contrast to Euclidean or topological dimensions, where discrete one, two, and three dimensions describe curves, planes, and volumes. Theoretically, if the digital numbers of a remotely sensed image resemble an ideal fractal surface, then due to the self-similarity property, the fractal dimension of the image will not vary with scale and resolution. However, most geographical phenomena are not strictly self-similar at all scales, but they can often be modeled by a stochastic fractal in which the scaling and self-similarity properties of the fractal have inexact patterns that can be described by statistics. Stochastic fractal sets relax the monofractal self-similarity assumption and measure many scales and resolutions in order to represent the varying form of a phenomenon as a function of local variables across space. In image interpretation, pattern is defined as the overall spatial form of related features, and the repetition of certain forms is a characteristic pattern found in many cultural objects and some natural features. Texture is the visual impression of coarseness or smoothness caused by the variability or uniformity of image tone or color. A potential use of fractals concerns the analysis of image texture. In these situations it is commonly observed that the degree of roughness or inexactness in an image or surface is a function of scale and not of experimental technique. The fractal dimension of remote sensing data could yield quantitative insight on the spatial complexity and information content contained within these data. A software package known as the Image Characterization and Modeling System (ICAMS) was used to explore how fractal dimension is related to surface texture and pattern. The ICAMS software was verified using simulated images of ideal fractal surfaces with specified dimensions. The fractal dimension for areas of homogeneous land cover in the vicinity of Huntsville, Alabama was measured to investigate the relationship between texture and resolution for different land covers.
A modified version of the MODerate resolution Imaging Spectroradiometer (MODIS) bidirectional reflectance distribution function (BRDF) algorithm is presented for use in the angular normalization of surface reflectance data gathered by the Spinning Enhanced Visible and InfraRed Imager (SEVIRI) aboard the geostationary Meteosat Second Generation (MSG) satellites. We present early and provisional daily nadir BRDFadjusted reflectance (NBAR) data in the visible and near-infrared MSG channels. These utilize the high temporal resolution of MSG to produce BRDF retrievals with a greatly reduced acquisition period than the comparable MODIS products while, at the same time, removing many of the angular perturbations present within the original MSG data. The NBAR data are validated against reflectance data from the MODIS instrument and in situ data gathered at a field location in Africa throughout 2008. It is found that the MSG retrievals are stable and are of high-quality across much of the SEVIRI disk while maintaining a higher temporal resolution than the MODIS BRDF products. However, a number of circumstances are discovered whereby the BRDF model is unable to function correctly with the SEVIRI observations-primarily because of an insufficient spread of angular data due to the fixed sensor location or localized cloud contamination.
This annual report summarizes the research activities that were performed from 26 Jun. 1993 to 28 Feb. 1994. We continued to investigate the Robust Stability of Systems where transfer functions or characteristic polynomials are affine multilinear functions of parameters. An approach that differs from 'Stability by Linear Process' and that reduces the computational burden of checking the robust stability of the system with multilinear uncertainty was found for low order, 2-order, and 3-order cases. We proved a crucial theorem, the so-called Face Theorem. Previously, we have proven Kharitonov's Vertex Theorem and the Edge Theorem by Bartlett. The detail of this proof is contained in the Appendix. This Theorem provides a tool to describe the boundary of the image of the affine multilinear function. For SPR design, we have developed some new results. The third objective for this period is to design a controller for IHM by the H-infinity optimization technique. The details are presented in the Appendix.
Johnson Space Flight Center's device to test astronauts' heart function in microgravity has led to the MultiWire Gamma Camera, which images heart conditions six times faster than conventional devices. Dr. Jeffrey Lacy, who developed the technology as a NASA researcher, later formed Proportional Technologies, Inc. to develop a commercially viable process that would enable use of Tantalum-178 (Ta-178), a radio-pharmaceutical. His company supplies the generator for the radioactive Ta-178 to Xenos Medical Systems, which markets the camera. Ta-178 can only be optimally imaged with the camera. Because the body is subjected to it for only nine minutes, the radiation dose is significantly reduced and the technique can be used more frequently. Ta-178 also enables the camera to be used on pediatric patients who are rarely studied with conventional isotopes because of the high radiation dosage.