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NASA NTRS1990

Contour-map encoding of shape for early vision

Contour maps provide a general method for recognizing 2-D shapes. All but blank images give rise to such maps, and people are good at recognizing objects and shapes from them. The maps are encoded easily in long feature vectors that are suitable for recognition by an associative memory. These properties of contour maps suggest a role for them in early visual perception. The prevalence of direction sensitive neurons in the visual cortex of mammals supports this view.

Kanerva, Pentti↗

NASA NTRS1988

Recognition of object domain by color distribution

For the image processing of an object in its natural image, it is necessary to extract in advance the object to be processed from its image. To accomplish this the outer shape of an object is extracted through human instructions, which requires a great deal of time and patience. A method involving the setting of a model of color distribution on the surface of an object is described. This method automatically provides color recognition, a piece of knowledge that represents the properties of an object, from its natural image. A method for recognizing and extracting the object in the image according to the color recognized is also described.

Mugitani, Takako↗

NASA NTRS1986

Pattern recognition of satellite cloud imagery for improved weather prediction

The major accomplishment was the successful development of a method for extracting time derivative information from geostationary meteorological satellite imagery. This research is a proof-of-concept study which demonstrates the feasibility of using pattern recognition techniques and a statistical cloud classification method to estimate time rate of change of large-scale meteorological fields from remote sensing data. The cloud classification methodology is based on typical shape function analysis of parameter sets characterizing the cloud fields. The three specific technical objectives, all of which were successfully achieved, are as follows: develop and test a cloud classification technique based on pattern recognition methods, suitable for the analysis of visible and infrared geostationary satellite VISSR imagery; develop and test a methodology for intercomparing successive images using the cloud classification technique, so as to obtain estimates of the time rate of change of meteorological fields; and implement this technique in a testbed system incorporating an interactive graphics terminal to determine the feasibility of extracting time derivative information suitable for comparison with numerical weather prediction products.

Gautier, Catherine↗

NASA NTRS2001

Spatial/Spectral Identification of Endmembers from AVIRIS Data using Mathematical Morphology

During the last several years, a number of airborne and satellite hyperspectral sensors have been developed or improved for remote sensing applications. Imaging spectrometry allows the detection of materials, objects and regions in a particular scene with a high degree of accuracy. Hyperspectral data typically consist of hundreds of thousands of spectra, so the analysis of this information is a key issue. Mathematical morphology theory is a widely used nonlinear technique for image analysis and pattern recognition. Although it is especially well suited to segment binary or grayscale images with irregular and complex shapes, its application in the classification/segmentation of multispectral or hyperspectral images has been quite rare. In this paper, we discuss a new completely automated methodology to find endmembers in the hyperspectral data cube using mathematical morphology. The extension of classic morphology to the hyperspectral domain allows us to integrate spectral and spatial information in the analysis process. In Section 3, some basic concepts about mathematical morphology and the technical details of our algorithm are provided. In Section 4, the accuracy of the proposed method is tested by its application to real hyperspectral data obtained from the Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) imaging spectrometer. Some details about these data and reference results, obtained by well-known endmember extraction techniques, are provided in Section 2. Finally, in Section 5 we expose the main conclusions at which we have arrived.

Plaza, Antonio↗

NASA NTRS1986

Computer vision for robots; Proceedings of the Meeting, Cannes, France, December 2-6, 1985

The conference presents papers on segmentation techniques, three-dimensional recognition and representation, processing image sequences, and navigation and mobility. Particular attention is given to determining the pose of an object, adaptive least squares correlation with geometrical constraints, and the reliable formation of feature vectors for two-dimensional shape representation. Other topics include the real-time tracking of a target moving on a natural textured background, computer vision for the guidance of roving robots, and integrating sensory data for object recognition tasks.

Faugeras, O. D.↗

NASA NTRS1977

Effect of vegetation on rock and soil type discrimination

The effect of naturally occurring vegetation on the spectral reflectance of earth materials in the wavelength region of 0.45 to 2.4 microns is determined by computer averaging of in situ acquired spectral data. The amount and type of vegetation and the spectral reflectance of the ground are considered. Low albedo materials may be altered beyond recognition with only ten per cent green vegetation cover. Dead or dry vegetation does not greatly alter the shape of the spectral reflectance curve and only changes the albedo with minimum wavelength dependency. With increasing amounts of vegetation the Landsat MSS band ratios 4/6, 4/7, 5/6, and 5/7 are significantly decreased whereas MSS ratios 4/5 and 6/7 remain entirely constant.

Siegal, B. S.↗

NASA NTRS1984

Pattern recognition for Space Applications Center director's discretionary fund

Results and conclusions are presented on the application of recent developments in pattern recognition to spacecraft star mapping systems. Sensor data for two representative starfields are processed by an adaptive shape-seeking version of the Fc-V algorithm with good results. Cluster validity measures are evaluated, but not found especially useful to this application. Recommendations are given two system configurations worthy of additional study,

Singley, M. E.↗

NASA NTRS1986

A multifunction recognition operator for telerobotic vision

Research on developing an operator capable of performing the various subtasks required of a telerobot's vision sensor is reported. The operator uses a goal-driven matching technique which is an application of a linear programming method that readily adapts to the elastic template matching approach to pattern recognition. Four applications of the operator are discussed: (1) three-space location of an isolated object; (2) shape determination of isolated planar figures; (3) image compression/restoration; and (4) shape decomposition.

Goode, P. W., IV↗

NASA NTRS1988

Automatic object recognition

Geometric and intensity features are very useful in object recognition. An intensity feature is a measure of contrast between object pixels and background pixels. Geometric features provide shape and size information. A model based approach is presented for computing geometric features. Knowledge about objects and imaging system is used to estimate orientation of objects with respect to the line of sight.

Ranganath, H. S.↗

NASA NTRS2007

Cometary Dust Characteristics: Comparison of Stardust Craters with Laboratory Impacts

Aluminium foils exposed to impact during the passage of the Stardust spacecraft through the coma of comet Wild 2 have preserved a record of a wide range of dust particle sizes. The encounter velocity and dust incidence direction are well constrained and can be simulated by laboratory shots. A crater size calibration programme based upon buckshot firings of tightly constrained sizes (monodispersive) of glass, polymer and metal beads has yielded a suite of scaling factors for interpretation of the original impacting grain dimensions. We have now extended our study to include recognition of particle density for better matching of crater to impactor diameter. A novel application of stereometric crater shape measurement, using paired scanning electron microscope (SEM) images has shown that impactors of differing density yield different crater depth/diameter ratios. Comparison of the three-dimensional gross morphology of our experimental craters with those from Stardust reveals that most of the larger Stardust impacts were produced by grains of low internal porosity.

Kearsley, A. T.↗

NASA NTRS2010

Autonomous GN and C for Spacecraft Exploration of Comets and Asteroids

A spacecraft guidance, navigation, and control (GN&C) system is needed to enable a spacecraft to descend to a surface, take a sample using a touch-and-go (TAG) sampling approach, and then safely ascend. At the time of this reporting, a flyable GN&C system that can accomplish these goals is beyond state of the art. This article describes AutoGNC, which is a GN&C system capable of addressing these goals, which has recently been developed and demonstrated to a maturity TRL-5-plus. The AutoGNC solution matures and integrates two previously existing JPL capabilities into a single unified GN&C system. The two capabilities are AutoNAV and GREX. AutoNAV is JPL s current flight navigation system, and is fairly mature with respect to flybys and rendezvous with small bodies, but is lacking capability for close surface proximity operations, sampling, and contact. G-REX is a suite of low-TRL algorithms and capabilities that enables spacecraft operations in close surface proximity and for performing sampling/contact. The development and integration of AutoNAV and G-REX components into AutoGNC provides a single, unified GN&C capability for addressing the autonomy, close-proximity, and sampling/contact aspects of small-body sample return missions. AutoGNC is an integrated capability comprising elements that were developed separately. The main algorithms and component capabilities that have been matured and integrated are autonomy for near-surface operations, terrain-relative navigation (TRN), real-time image-based feedback guidance and control, and six degrees of freedom (6DOF) control of the TAG sampling event. Autonomy is achieved based on an AutoGNC Executive written in Virtual Machine Language (VML) incorporating high-level control, data management, and fault protection. In descending to the surface, the AutoGNC system uses camera images to determine its position and velocity relative to the terrain. This capability for TRN leverages native capabilities of the original AutoNAV system, but required advancements that integrate the separate capabilities for shape modeling, state estimation, image rendering, defining a database of onboard maps, and performing real-time landmark recognition against the stored maps. The ability to use images to guide the spacecraft requires the capability for image-based feedback control. In Auto- GNC, navigation estimates are fed into an onboard guidance and control system that keeps the spacecraft guided along a desired path, as it descends towards its targeted landing or sampling site. Once near the site, AutoGNC achieves a prescribed guidance condition for TAG sampling (position/orientation, velocity), and a prescribed force profile on the sampling end-effector. A dedicated 6DOF TAG control then implements the ascent burn while recovering from sampling disturbances and induced attitude rates. The control also minimizes structural interactions with flexible solar panels and disallows any part of the spacecraft from making contact with the ground (other than the intended end-effector).

Carson, John M.↗

NASA NTRS1985

Pattern recognition in the satellite temperature retrieval problem

Pattern recognition procedures have been developed in order to improve the first-guess fields for satellite temperature retrievals. The first procedure is used to select one or more historical radiosonde temperature profiles as analog estimates of ambient thermal structure. The second procedure is used to organize a priori data into shape-coherent pattern libraries using structural information inherent in the data itself. On the basis of independent tests of about 800 temperature retrievals, it was found that: (1) the pattern recognition techniques reduced first-guess profile errors by nearly 50 percent in comparison with traditional partitioning schemes; and (2) with regression and physical-iterative retrieval algorithms, however, the effect of pattern recognition on temperature retrieval error was insignificant. Analysis of individual retrieval errors showed that poor retrievals may outweigh the potential benefits of both pattern recognition techniques.

Thompson, O. E.↗

NASA NTRS1989

Gravitational radiation from rotating gravitational collapse

The efficiency of gravitational wave emission from axisymmetric rotating collapse to a black hole was found to be very low: Delta E/Mc sq. less than 7 x 10(exp -4). The main waveform shape is well defined and nearly independent of the details of the collapse. Such a signature will allow pattern recognition techniques to be used when searching experimental data. These results (which can be scaled in mass) were obtained using a fully general relativistic computer code that evolves rotating axisymmetric configurations and directly computes their gravitational radiation emission.

Stark, Richard F.↗

NASA NTRS1993

Robust algebraic image enhancement for intelligent control systems

Robust vision capability for intelligent control systems has been an elusive goal in image processing. The computationally intensive techniques a necessary for conventional image processing make real-time applications, such as object tracking and collision avoidance difficult. In order to endow an intelligent control system with the needed vision robustness, an adequate image enhancement subsystem capable of compensating for the wide variety of real-world degradations, must exist between the image capturing and the object recognition subsystems. This enhancement stage must be adaptive and must operate with consistency in the presence of both statistical and shape-based noise. To deal with this problem, we have developed an innovative algebraic approach which provides a sound mathematical framework for image representation and manipulation. Our image model provides a natural platform from which to pursue dynamic scene analysis, and its incorporation into a vision system would serve as the front-end to an intelligent control system. We have developed a unique polynomial representation of gray level imagery and applied this representation to develop polynomial operators on complex gray level scenes. This approach is highly advantageous since polynomials can be manipulated very easily, and are readily understood, thus providing a very convenient environment for image processing. Our model presents a highly structured and compact algebraic representation of grey-level images which can be viewed as fuzzy sets.

Lerner, Bao-Ting↗

NASA NTRS1996

Formation of Ordered Arrays of Proteins on Surfaces

Van der Waals (dispersion) forces contribute to interactions of proteins with other molecules or with surfaces, but because of the structural complexity of protein molecules, the magnitude of these effects is usually estimated based on idealized models of the molecular geometry, e.g., spheres or spheroids. The calculations reported here seek to account for both the geometric irregularity of protein molecules and the material properties of the interacting media. While the latter are found to fall in the generally accepted range, the molecular shape is shown to cause the magnitudes of the interactions to differ significantly from those calculated using idealized models, with important consequences. First, the roughness of the molecular surface leads to much lower average interaction energies for both protein-protein and protein-surface cases relative to calculations in which the protein molecule is approximated as a sphere. These results indicate that a form of steric stabilization may be an important effect in protein solutions. Underlying this behavior is appreciable orientational dependence, one reflection of which is that molecules of complementary shape are found to exhibit very strong attractive dispersion interactions. Although this has been widely discussed previously in the context of molecular recognition processes, the broader implications of these phenomena may also be important at larger molecular separations, e.g., in the dynamics of aggregation, precipitation and crystal growth.

Lenhoff, A. M.↗

NASA NTRS1996

Van der Waals Interactions Involving Proteins

Van der Waals (dispersion) forces contribute to interactions of proteins with other molecules or with surfaces, but because of the structural complexity of protein molecules, the magnitude of these effects is usually estimated based on idealized models of the molecular geometry, e.g., spheres or spheroids. The calculations reported here seek to account for both the geometric irregularity of protein molecules and the material properties of the interacting media. Whereas the latter are found to fall in the generally accepted range, the molecular shape is shown to cause the magnitudes of the interactions to differ significantly from those calculated using idealized models. with important consequences. First, the roughness of the molecular surface leads to much lower average interaction energies for both protein-protein and protein-surface cases relative to calculations in which the protein molecule is approximated as a sphere. These results indicate that a form of steric stabilization may be an important effect in protein solutions. Underlying this behavior is appreciable orientational dependence, one reflection of which is that molecules of complementary shape are found to exhibit very strong attractive dispersion interactions. Although this has been widely discussed previously in the context of molecular recognition processes, the broader implications of these phenomena may also be important at larger molecular separations, e.g., in the dynamics of aggregation, precipitation, and crystal growth.

Roth, Charles M.↗

NASA NTRS1993

Classification of the LCVF AVIRIS test site with a Kohonen artificial neural network

We present a classification of an AVIRIS spectral image of the Lunar Crater Volcanic Field (LCVF). Geologic mapping from such data is made possible by distinctive mineral signatures: absorption features and the shape of the spectral continuum. The subtle spectral shape differences between some of the geological units in this scene along with the high dimensionality of the spectral presents a challenging pattern recognition task. We found an artificial neural network powerful in separating 13 geological units based on the full spectral resolution. The LCVF, in northern Nye County, Nevada, was the primary focus of the NASA-sponsored Geologic Remote Sensing Field Experiment in the summer of 1989. It consists of over 100 square miles of Quaternary basaltic pyroclastic and flow deposits. These deposits lie atop ignimbrites and silicic lava flows of Tertiary age and in turn are overlain by Quaternary alluvial and playa deposits. This AVIRIS image was collected on September 29, 1989 at 11:44 at 11:44 PDT. The 256-by-256 pixel subsection in this study contains oxidized basaltic cinder deposits, the southern half of the Lunar Lake playa, and outcrops of the Rhyollite of Big Sand Spring Valley. Vegetation in LCVF is sparse, but locally abundant within washes and near springs.

Merenyi, Erzsebet↗

NASA NTRS1973

Thailand national programme of the Earth Resources Technology Satellite

The author has identified the following significant results. ERTS-1 data has been used to delineate floating rice regions with a clear distinction between irrigated and nonirrigated areas and recognition of orchard and horitcultural crops. Alluvial fans marking the ancient river outlets in the northwestern portion of the Central Plain of Thailand and the shape and size of the flood plains in the central region have been identified and outlined. A new forestry map was constructed using band 5 and band 7 imagery combined with ground observations. A geologic map of Thailand has been constructed from ERTS imagery.

Cheosakul, P.↗