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System includes lightweight, inexpensive movie camera to record simultaneously views from three different angles on same filmstrip. This is noncritical system as it is adaptable to many applications requiring similar, but diverse, viewing areas.
The EOS/MISR instrument includes nine pushroom cameras, each at different view to Earth, and an on-board calibrator. The latter includes photodiode detectors, used as the radiometric standards for the experiment, and two Spectralon diffuse panels.
On October 28, 2004 the Cassini spacecraft flew within 255,500km of Saturn's heavily-cratered icy moon, Tethys. The ISS Narrow Angle Camera (NAC) obtained its first closeup multi-color images of Tethys at a Voyager-comparable spatial resolution of 1.5 km/pixel. The imaging sequence provided 23 NAC images covering 10 NAC color-filter bandpasses (ranging from 338nm to 930nm wavelengths), as well as a Wide Angle Camera (WAC), 3-color (BGR) image set. The images show whole-disk views of Tethys' trailing hemisphere viewed at a phase angle of 50 degrees and with a sub-spacecraft point of (22 deg. N, 270 deg. W). At the spatial resolution of our NAC images, Tethys' 1060 km diameter presents a disk-size of about 350 pixels. Among the images returned are nine frames obtained through NAC polarization-filters at three different spectral bandpasses (UV3: 341nm, GRN: 569nm, and MT2: 727 nm, respectively). In the present study, we use these polarization images to search for possible variations in the microscopic texture of regolith on Tethys.
Hemispherical refracting element gives pinhole camera 180 degree field-of-view without compromising its simplicity and depth-of-field. Refracting element, located just behind pinhole, bends light coming in from sides so that it falls within image area of film. In contrast to earlier pinhole cameras that used water or other transparent fluids to widen field, this model is not subject to leakage and is easily loaded and unloaded with film. Moreover, by selecting glass with different indices of refraction, field at film plane can be widened or reduced.
A photogrammetry system and method provide for determining the relative position between two objects. The system utilizes one or more imaging devices, such as high speed cameras, that are mounted on a first body, and three or more photogrammetry targets of a known location on a second body. The system and method can be utilized with cameras having fish-eye, hyperbolic, omnidirectional, or other lenses. The system and method do not require overlapping fields-of-view if two or more cameras are utilized. The system and method derive relative orientation by equally weighting information from an arbitrary number of heterogeneous cameras, all with non-overlapping fields-of-view. Furthermore, the system can make the measurements with arbitrary wide-angle lenses on the cameras.
The Multiangle Imaging SpectroRadiometer (MISR) is currently under development for NASA's Earth Observing System. The instrument consists of nine pushbroom cameras, each with four spectral bands in the visible and near-infrared. The cameras point in different view directions to provide measurements from nadir to highly oblique view angles in the along-track plane. Multiple view-angle observations provide a unique resource for studies of clouds, aerosols, and the surface. MISR is built to challenging radiometric and geometric performance specifications. Radiometric accuracy, for example, must be within +/- 3%/ 1 sigma, and polarization insensitivity must be better than +/- 1 %. An onboard calibrator (OBC) provides monthly updates to the instrument gain coefficients. Spectralon diffuse panels are used within the OBC to provide a uniform target for the cameras to view. The absolute radiometric scale is established both preflight and in orbit through the use of detector standards. During the mission, ground data processing to accomplish radiometric calibration, geometric rectification and registration of the nine view-angle imagery, and geophysical retrievals will proceed in an automated fashion. A global dataset is produced every 9 days. This paper details the preflight characterization of the MISR instrument, the design of the OBC, and the radiance product processing.
Phenology is a distinct marker of the impacts of climate change on ecosystems. Accordingly, monitoring the spatiotemporal patterns of vegetation phenology is important to understand the changing Earth system. A wide range of sensors have been used to monitor vegetation phenology, including digital cameras with different viewing geometries mounted on various types of platforms. Sensor perspective, view-angle, and resolution can potentially impact estimates of phenology. We compared three different methods of remotely sensing vegetation phenology—an unoccupied aerial vehicle (UAV)-based, downward-facing RGB camera, a below-canopy, upward-facing hemispherical camera with blue (B), green (G), and near-infrared (NIR) bands, and a tower-based RGB PhenoCam, positioned at an oblique angle to the canopy—to estimate spring phenological transition towards canopy closure in a mixed-species temperate forest in central Virginia, USA. Our study had two objectives: (1) to compare the above- and below-canopy inference of canopy greenness (using green chromatic coordinate and normalized difference vegetation index) and canopy structural attributes (leaf area and gap fraction) by matching below-canopy hemispherical photos with high spatial resolution (0.03 m) UAV imagery, to find the appropriate spatial coverage and resolution for comparison; (2) to compare how UAV, ground-based, and tower-based imagery performed in estimating the timing of the spring phenological transition. We found that a spatial buffer of 20 m radius for UAV imagery is most closely comparable to below-canopy imagery in this system. Sensors and platforms agree within +/− 5 days of when canopy greenness stabilizes from the spring phenophase into the growing season. We show that pairing UAV imagery with tower-based observation platforms and plot-based observations for phenological studies (e.g., long-term monitoring, existing research networks, and permanent plots) has the potential to scale plot-based forest structural measures via UAV imagery, constrain uncertainty estimates around phenophases, and more robustly assess site heterogeneity.
Multiple-segment climbing robots developed to perform such tasks as inspection, sandblasting, welding, and painting on towers and other structures. Look and move like caterpillars. Video camera mounted on one of segments rotated to desired viewing angle. Used in remote inspection of structure, to view motion of robot and/or provides video feedback for control of motion, and/or to guide operation of head mounted on foremost segment with motorized actuators.
Instantaneously, the nine pushbroom cameras of the Multi-angle Image SpectroRadiometer (MISR) instrument view the Earth at nine discrete angles, ranging from forward 70 deg, 60 deg, 45 deg, 25 deg, nadir, to symmetric aftward angles in the along-track direction.
The Optical Navigation Camera (ONC) is a technical demonstration slated to fly on NASA"s Mars Reconnaissance Orbiter in 2005. Conventional navigation methods have reduced accuracy in the days immediately preceding Mars orbit insertion. The resulting uncertainty in spacecraft location limits rover landing sites to relatively safe areas, away from interesting features that may harbor clues to past life on the planet. The ONC will provide accurate navigation on approach for future missions by measuring the locations of the satellites of Mars relative to background stars. Because Mars will be a bright extended object just outside the camera"s field of view, stray light control at small angles is essential. The ONC optomechanical design was analyzed by stray light experts and appropriate baffles were implemented. However, stray light testing revealed significantly higher levels of light than expected at the most critical angles. The primary error source proved to be the interface between ground glass surfaces (and the paint that had been applied to them) and the polished surfaces of the lenses. This paper will describe troubleshooting and correction of the problem, as well as other lessons learned that affected stray light performance.
Proposed camera images thin, striplike portion of field of view of 180 degrees wide. Hemispherical concave reflector forms image onto optical fibers, which transfers it to strip of photodetectors or spectrograph. Advantages include little geometric distortion, achromatism, and ease of athermalization. Uses include surveillance of clouds, coarse mapping of terrain, measurements of bidirectional reflectance distribution functions of aerosols, imaging spectrometry, oceanography, and exploration of planets.
When teleoperating a robot using video from a remote camera, it is difficult for the operator to gauge depth and orientation from a single view. In addition, there are situations where a camera mounted for viewing by the teleoperator during a teleoperation task may not be able to see the tool tip, or the viewing angle may not be intuitive (requiring extensive training to reduce the risk of incorrect or dangerous moves by the teleoperator). A machine vision based teleoperator aid is presented which uses the operator's camera view to compute an object's pose (position and orientation), and then overlays onto the operator's screen information on the object's current and desired positions. The operator can choose to display orientation and translation information as graphics and/or text. This aid provides easily assimilated depth and relative orientation information to the teleoperator. The camera may be mounted at any known orientation relative to the tool tip. A preliminary experiment with human operators was conducted and showed that task accuracies were significantly greater with than without this aid.
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.
A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems that require coordination of vision and robotic motion.
A paper describes a photogrammetric method for measuring the changing shape of a gossamer (membrane) structure deployed in outer space. Such a structure is typified by a solar sail comprising a transparent polymeric membrane aluminized on its Sun-facing side and coated black on the opposite side. Unlike some prior photogrammetric methods, this method does not require an artificial light source or the attachment of retroreflectors to the gossamer structure. In a basic version of the method, the membrane contains a fluorescent dye, and the front and back coats are removed in matching patterns of dots. The dye in the dots absorbs some sunlight and fluoresces at a longer wavelength in all directions, thereby enabling acquisition of high-contrast images from almost any viewing angle. The fluorescent dots are observed by one or more electronic camera(s) on the Sun side, the shade side, or both sides. Filters that pass the fluorescent light and suppress most of the solar spectrum are placed in front of the camera(s) to increase the contrast of the dots against the background. The dot image(s) in the camera(s) are digitized, then processed by use of commercially available photogrammetric software.
On global scales, just a few broad atmospheric aerosol compositional groups are commonly observed. Of these, "mineral dust" is the only group which both contains non-spherical particles, and typically has size distributions with enough large particles for particle shape to affect its visible-light-scattering properties. The MISR instrument is scheduled for launch into a 10:30 AM sun-synchronous, polar orbit aboard the EOS Terra satellite in 1999. MISR will measure the upwelling visible radiance from Earth in 4 spectral bands centered at 446, 558, 672, and 866 nm, at each of 9 emission angles spread out in the forward and aft directions along the flight path at +/-70.5 deg, +/-60.0 deg, +/-45.6 deg, +/-26.1deg, and nadir. Over a period of 7 minutes, as the spacecraft flies along, a 360 km wide swath of Earth will successively be viewed by each of the cameras, allowing MISR to sample a very large range of scattering angles; in mid latitudes, the instrument will observe scattering angles between about 60 deg and 160 deg. Global coverage will be acquired about once in 9 days at the equator; the nominal mission lifetime is 6 years. The distinction in single scattering phase function between natural distributions of spherical and randomly oriented, non-spherical particles, with a broad range of aspect ratios, shows up strongly for scattering angles ranging from about 90 deg to near 180 deg. For non-spherical particle distributions, single scattering phase functions tend to be much flatter in this region than for spherical particles. Since MISR samples the relevant range of scattering angles very well, we expect to be able to make critical distinctions between natural distributions of spherical and randomly oriented, non-spherical particles with MISR data. We anticipate that the new multiangle, multispectral data from MISR will also contain other information about particle properties, a major step beyond current spacecraft remote sensing retrievals, which obtain aerosol optical depth based on entirely assumed particle microphysical properties. According to simulations over cloud-free, calm ocean, for pure particles with natural ranges of optical depth, particle size, and indices of refraction, MISR should retrieve column optical depth for all but the darkest particles, to an uncertainty of at most 0.05 or 20%, whichever is larger, even if the particle properties are poorly known. For one common particle type, soot, constraints on the optical depth over dark ocean are very poor. The simulated measurements also should allow us to separate two to four compositional groups based on indices of refraction, and to identify three to four distinct size groups between 0.1 and 2.0 microns characteristic radius at most latitudes. The technique is most sensitive to particle microphysical properties in the "accumulation mode" sizes. where particle scattering undergoes the transition from Rayleigh to large-particle regimes for the MISR wavelengths. Based on these results, we expect to distinguish air masses containing different aerosol types, routinely and globally, with multiangle remote sensing data. Such data complements in situ and field data, which can provide details about aerosol size and composition locally that are needed to assess the radiative effects of aerosols quantitatively. Both field data and correlations in space and time with likely source and sink regions will also be helpful in developing a global picture of mineral dust aerosol budgets. Further work on the expected sensitivity of MISR to natural mixtures of pure particles, including climatologically likely mineral dust components, is currently underway.
MISR (Multi-angle Imaging SpectroRadiometer) INteractive eXplorer (MINX) is an interactive visualization program that allows a user to digitize smoke, dust, or volcanic plumes in MISR multiangle images, and automatically retrieve height and wind profiles associated with those plumes. This innovation can perform 9-camera animations of MISR level-1 radiance images to study the 3D relationships of clouds and plumes. MINX also enables archiving MISR aerosol properties and Moderate Resolution Imaging Spectroradiometer (MODIS) fire radiative power along with the heights and winds. It can correct geometric misregistration between cameras by correlating off-nadir camera scenes with corresponding nadir scenes and then warping the images to minimize the misregistration offsets. Plots of BRF (bidirectional reflectance factor) vs. camera angle for points clicked in an image can be displayed. Users get rapid access to map views of MISR path and orbit locations and overflight dates, and past or future orbits can be identified that pass over a specified location at a specified time. Single-camera, level-1 radiance data at 1,100- or 275- meter resolution can be quickly displayed in color using a browse option. This software determines the heights and motion vectors of features above the terrain with greater precision and coverage than previous methods, based on an algorithm that takes wind direction into consideration. Human interpreters can precisely identify plumes and their extent, and wind direction. Overposting of MODIS thermal anomaly data aids in the identification of smoke plumes. The software has been used to preserve graphical and textural versions of the digitized data in a Web-based database.
The matched tandem etalon camera employs a Fabry-Perot interferometer (FP) in the photographic mode for the spatial resolution over all angles up to 7 deg from normal. An interference filter and an appropriate field lens isolate a single order of 0.1 A resolution, which is recorded simultaneously at all angles in the field of view by array detection. Thus the resolution and luminosity of the MATEC camera are those of the FP. The MATEC pilot model has a ratio of free spectral range to linewidth of 400 and utilizes intensified photographic detection. In a system applied to auroral measurements the MATEC views a semiconical sky mirror to provide a simulatenous dimension of spatial resolution in the N-S meridian combined with the dimension of spectral resolution. Stellar features and cloud and ground reflections are more easily identified than by any scanning photometer.