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NASA NTRS2004

Can Effective Synthetic Vision System Displays be Implemented on Limited Size Display Spaces?

The Synthetic Vision Systems (SVS) element of the NASA Aviation Safety Program is striving to eliminate poor visibility as a causal factor in aircraft accidents, and to enhance operational capabilities of all types or aircraft. To accomplish these safety and situation awareness improvements, the SVS concepts are designed to provide a clear view of the world ahead through the display of computer generated imagery derived from an onboard database of terrain, obstacle and airport information. An important issue for the SVS concept is whether useful and effective Synthetic Vision System (SVS) displays can be implemented on limited size display spaces as would be required to implement this technology on older aircraft with physically smaller instrument spaces. In this study, prototype SVS displays were put on the following display sizes: (a) size "A' (e.g. 757 EADI), (b) form factor "D" (e.g. 777 PFD), and (c) new size "X" (Rectangular flat-panel, approximately 20 x 25 cm). Testing was conducted in a high-resolution graphics simulation facility at NASA Langley Research Center. Specific issues under test included the display size as noted above, the field-of-view (FOV) to be shown on the display and directly related to FOV is the degree of minification of the displayed image or picture. Using simulated approaches with display size and FOV conditions held constant no significant differences by these factors were found. Preferred FOV based on performance was determined by using approaches during which pilots could select FOV. Mean preference ratings for FOV were in the following order: (1) 30 deg., (2) Unity, (3) 60 deg., and (4) 90 deg., and held true for all display sizes tested. Limitations of the present study and future research directions are discussed.

Comstock, J. Raymond, Jr.↗
NASA NTRS2004

A Hybrid Synthetic Vision System for the Tele-operation of Unmanned Vehicles

A system called SmartCam3D (SC3D) has been developed to provide enhanced situational awareness for operators of a remotely piloted vehicle. SC3D is a Hybrid Synthetic Vision System (HSVS) that combines live sensor data with information from a Synthetic Vision System (SVS). By combining the dual information sources, the operators are afforded the advantages of each approach. The live sensor system provides real-time information for the region of interest. The SVS provides information rich visuals that will function under all weather and visibility conditions. Additionally, the combination of technologies allows the system to circumvent some of the limitations from each approach. Video sensor systems are not very useful when visibility conditions are hampered by rain, snow, sand, fog, and smoke, while a SVS can suffer from data freshness problems. Typically, an aircraft or satellite flying overhead collects the data used to create the SVS visuals. The SVS data could have been collected weeks, months, or even years ago. To that extent, the information from an SVS visual could be outdated and possibly inaccurate. SC3D was used in the remote cockpit during flight tests of the X-38 132 and 131R vehicles at the NASA Dryden Flight Research Center. SC3D was also used during the operation of military Unmanned Aerial Vehicles. This presentation will provide an overview of the system, the evolution of the system, the results of flight tests, and future plans. Furthermore, the safety benefits of the SC3D over traditional and pure synthetic vision systems will be discussed.

Delgado, Frank↗
NASA NTRS1989

Load balancing and task decomposition techniques for parallel implementation of integrated vision systems algorithms

Several techniques are presented to perform static and dynamic load balancing schemes for integrated vision systems. These techniques are novel in the sense that they capture the computational requirements of a task by examining the data when they are produced. Furthermore, they can be applied to many integrated vision systems because many algorithms in different systems are either the same or have similar computational characteristics. These techniques are evaluated by applying them to the algorithms in a motion estimation system. It is shown that the performance gains when these techniques are used are significant and the overhead of using these techniques is minimal. The performance is evaluated by implementing the algorithms using the presented techniques on a hypercube multiprocessor system.

Choudhary, Alok N.↗
NASA NTRS2006

Real-time Enhancement, Registration, and Fusion for a Multi-Sensor Enhanced Vision System

Over the last few years NASA Langley Research Center (LaRC) has been developing an Enhanced Vision System (EVS) to aid pilots while flying in poor visibility conditions. The EVS captures imagery using two infrared video cameras. The cameras are placed in an enclosure that is mounted and flown forward-looking underneath the NASA LaRC ARIES 757 aircraft. The data streams from the cameras are processed in real-time and displayed on monitors on-board the aircraft. With proper processing the camera system can provide better-than- human-observed imagery particularly during poor visibility conditions. However, to obtain this goal requires several different stages of processing including enhancement, registration, and fusion, and specialized processing hardware for real-time performance. We are using a real-time implementation of the Retinex algorithm for image enhancement, affine transformations for registration, and weighted sums to perform fusion. All of the algorithms are executed on a single TI DM642 digital signal processor (DSP) clocked at 720 MHz. The image processing components were added to the EVS system, tested, and demonstrated during flight tests in August and September of 2005. In this paper we briefly discuss the EVS image processing hardware and algorithms. We then discuss implementation issues and show examples of the results obtained during flight tests. Keywords: enhanced vision system, image enhancement, retinex, digital signal processing, sensor fusion

Hines, Glenn D.↗
NASA NTRS1990

Space environment robot vision system

A prototype twin-camera stereo vision system for autonomous robots has been developed at Goddard Space Flight Center. Standard charge coupled device (CCD) imagers are interfaced with commercial frame buffers and direct memory access to a computer. The overlapping portions of the images are analyzed using photogrammetric techniques to obtain information about the position and orientation of objects in the scene. The camera head consists of two 510 x 492 x 8-bit CCD cameras mounted on individually adjustable mounts. The 16 mm efl lenses are designed for minimum geometric distortion. The cameras can be rotated in the pitch, roll, and yaw (pan angle) directions with respect to their optical axes. Calibration routines have been developed which automatically determine the lens focal lengths and pan angle between the two cameras. The calibration utilizes observations of a calibration structure with known geometry. Test results show the precision attainable is plus or minus 0.8 mm in range at 2 m distance using a camera separation of 171 mm. To demonstrate a task needed on Space Station Freedom, a target structure with a movable I beam was built. The camera head can autonomously direct actuators to dock the I-beam to another one so that they could be bolted together.

Wood, H. John↗
NASA NTRS2020

The Mars 2020 lander vision system field test

The Mars 2020 Lander Vision System estimates position relative to a map and provides this information to the spacecraft so that large hazards can be avoided during landing. The LVS is a new mission critical sensor and as such requires extensive validation. A field test conducted in May 2019 was the primary means to prove that the LVS will operate as designed. During this test over 600 independent real-time runs on engineering model LVS hardware and software were executed and clearly showed that it could meet a 40m position estimation requirement over a wide operational envelope. This paper will describe the test approach, operations and results. Specific examples as well as aggregate performance will be discussed along with off-nominal testing and fault recovery.

Montgomery, J.↗
NASA NTRS2020

The Mars 2020 Lander Vision System Field Test

The Mars 2020 Lander Vision System estimates position relative to a map and provides this information to the spacecraft so that large hazards can be avoided during landing. The LVS is a new mission critical sensor and as such requires extensive validation. A field test conducted in May 2019 was the primary means to prove that the LVS will operate as designed. During this test over 600 independent real-time runs on engineering model LVS hardware and software were executed and clearly showed that it could meet a 40m position estimation requirement over a wide operational envelope. This paper will describe the test approach, operations and results. Specific examples as well as aggregate per-formance will be discussed along with off-nominal testing and fault recovery.

Johnson, A.↗
NASA NTRS1986

Seam tracking performance of a Coaxial Weld Vision System and pulsed welding

This report describes a continuation of a series of tests on the Coaxial Weld Vision System at MSFC. The ability of the system to compensate for transients associated with pulsed current welding is analyzed. Using the standard image processing approach for root pass seam tracking, the system is also tested for the ability to track the toe of a previous weld bead, for tracking multiple pass weld joints. This Coaxial Weld Vision System was developed by the Ohio State University (OSU) Center for Welding Research and is a part of the Space Shuttle Main Engine Robotic Welding Development System at MSFC.

Gangl, K. J.↗
NASA NTRS1992

Visual cues in low-level flight - Implications for pilotage, training, simulation, and enhanced/synthetic vision systems

This paper reviews some of the sources of visual information that are available in the out-the-window scene and describes how these visual cues are important for routine pilotage and training, as well as the development of simulator visual systems and enhanced or synthetic vision systems for aircraft cockpits. It is shown how these visual cues may change or disappear under environmental or sensor conditions, and how the visual scene can be augmented by advanced displays to capitalize on the pilot's excellent ability to extract visual information from the visual scene.

Foyle, David C.↗
NASA NTRS1987

Real-time model-based vision system for object acquisition and tracking

A machine vision system is described which is designed to acquire and track polyhedral objects moving and rotating in space by means of two or more cameras, programmable image-processing hardware, and a general-purpose computer for high-level functions. The image-processing hardware is capable of performing a large variety of operations on images and on image-like arrays of data. Acquisition utilizes image locations and velocities of the features extracted by the image-processing hardware to determine the three-dimensional position, orientation, velocity, and angular velocity of the object. Tracking correlates edges detected in the current image with edge locations predicted from an internal model of the object and its motion, continually updating velocity information to predict where edges should appear in future frames. With some 10 frames processed per second, real-time tracking is possible.

Wilcox, Brian↗
NASA NTRS2011

Transition of Attention in Terminal Area NextGen Operations Using Synthetic Vision Systems

This experiment investigates the capability of Synthetic Vision Systems (SVS) to provide significant situation awareness in terminal area operations, specifically in low visibility conditions. The use of a Head-Up Display (HUD) and Head-Down Displays (HDD) with SVS is contrasted to baseline standard head down displays in terms of induced workload and pilot behavior in 1400 RVR visibility levels. Variances across performance and pilot behavior were reviewed for acceptability when using HUD or HDD with SVS under reduced minimums to acquire the necessary visual components to continue to land. The data suggest superior performance for HUD implementations. Improved attentional behavior is also suggested for HDD implementations of SVS for low-visibility approach and landing operations.

Ellis, Kyle K. E.↗
NASA NTRS2008

Piloted Simulation of Various Synthetic Vision Systems Terrain Portrayal and Guidance Symbology Concepts for Low Altitude En-Route Scenario

In support of the NASA Aviation Safety Program's Synthetic Vision Systems Project, a series of piloted simulations were conducted to explore and quantify the relationship between candidate Terrain Portrayal Concepts and Guidance Symbology Concepts, specific to General Aviation. The experiment scenario was based on a low altitude en route flight in Instrument Metrological Conditions in the central mountains of Alaska. A total of 18 general aviation pilots, with three levels of pilot experience, evaluated a test matrix of four terrain portrayal concepts and six guidance symbology concepts. Quantitative measures included various pilot/aircraft performance data, flight technical errors and flight control inputs. The qualitative measures included pilot comments and pilot responses to the structured questionnaires such as perceived workload, subjective situation awareness, pilot preferences, and the rare event recognition. There were statistically significant effects found from guidance symbology concepts and terrain portrayal concepts but no significant interactions between them. Lower flight technical errors and increased situation awareness were achieved using Synthetic Vision Systems displays, as compared to the baseline Pitch/Roll Flight Director and Blue Sky Brown Ground combination. Overall, those guidance symbology concepts that have both path based guidance cue and tunnel display performed better than the other guidance concepts.

Takallu, M. A.↗
NASA NTRS2005

Real-time Enhanced Vision System

Flying in poor visibility conditions, such as rain, snow, fog or haze, is inherently dangerous. However these conditions can occur at nearly any location, so inevitably pilots must successfully navigate through them. At NASA Langley Research Center (LaRC), under support of the Aviation Safety and Security Program Office and the Systems Engineering Directorate, we are developing an Enhanced Vision System (EVS) that combines image enhancement and synthetic vision elements to assist pilots flying through adverse weather conditions. This system uses a combination of forward-looking infrared and visible sensors for data acquisition. A core function of the system is to enhance and fuse the sensor data in order to increase the information content and quality of the captured imagery. These operations must be performed in real-time for the pilot to use while flying. For image enhancement, we are using the LaRC patented Retinex algorithm since it performs exceptionally well for improving low-contrast range imagery typically seen during poor visibility conditions. In general, real-time operation of the Retinex requires specialized hardware. To date, we have successfully implemented a single-sensor real-time version of the Retinex on several different Digital Signal Processor (DSP) platforms. In this paper we give an overview of the EVS and its performance requirements for real-time enhancement and fusion and we discuss our current real-time Retinex implementations on DSPs.

Hines, Glenn D.↗
NASA NTRS1992

Enhanced/Synthetic Vision Systems - Human factors research and implications for future systems

This paper reviews recent human factors research studies conducted in the Aerospace Human Factors Research Division at NASA Ames Research Center related to the development and usage of Enhanced or Synthetic Vision Systems. Research discussed includes studies of field of view (FOV), representational differences of infrared (IR) imagery, head-up display (HUD) symbology, HUD advanced concept designs, sensor fusion, and sensor/database fusion and evaluation. Implications for the design and usage of Enhanced or Synthetic Vision Systems are discussed.

Foyle, David C.↗
NASA NTRS1987

A database/knowledge structure for a robotics vision system

Desirable properties of robotics vision database systems are given, and structures which possess properties appropriate for some aspects of such database systems are examined. Included in the structures discussed is a family of networks in which link membership is determined by measures of proximity between pairs of the entities stored in the database. This type of network is shown to have properties which guarantee that the search for a matching feature vector is monotonic. That is, the database can be searched with no backtracking, if there is a feature vector in the database which matches the feature vector of the external entity which is to be identified. The construction of the database is discussed, and the search procedure is presented. A section on the support provided by the database for description of the decision-making processes and the search path is also included.

Dearholt, D. W.↗
NASA NTRS2015

Enhanced Flight Vision Systems Operational Feasibility Study Using Radar and Infrared Sensors

Approach and landing operations during periods of reduced visibility have plagued aircraft pilots since the beginning of aviation. Although techniques are currently available to mitigate some of the visibility conditions, these operations are still ultimately limited by the pilot's ability to "see" required visual landing references (e.g., markings and/or lights of threshold and touchdown zone) and require significant and costly ground infrastructure. Certified Enhanced Flight Vision Systems (EFVS) have shown promise to lift the obscuration veil. They allow the pilot to operate with enhanced vision, in lieu of natural vision, in the visual segment to enable equivalent visual operations (EVO). An aviation standards document was developed with industry and government consensus for using an EFVS for approach, landing, and rollout to a safe taxi speed in visibilities as low as 300 feet runway visual range (RVR). These new standards establish performance, integrity, availability, and safety requirements to operate in this regime without reliance on a pilot's or flight crew's natural vision by use of a fail-operational EFVS. A pilot-in-the-loop high-fidelity motion simulation study was conducted at NASA Langley Research Center to evaluate the operational feasibility, pilot workload, and pilot acceptability of conducting straight-in instrument approaches with published vertical guidance to landing, touchdown, and rollout to a safe taxi speed in visibility as low as 300 feet RVR by use of vision system technologies on a head-up display (HUD) without need or reliance on natural vision. Twelve crews flew various landing and departure scenarios in 1800, 1000, 700, and 300 RVR. This paper details the non-normal results of the study including objective and subjective measures of performance and acceptability. The study validated the operational feasibility of approach and departure operations and success was independent of visibility conditions. Failures were handled within the lateral confines of the runway for all conditions tested. The fail-operational concept with pilot in the loop needs further study.

Etherington, Timothy J.↗
NASA NTRS2007

Terrain Portrayal for Synthetic Vision Systems Head-Down Displays Evaluation Results: Compilation of Pilot Transcripts

The Terrain Portrayal for Head-Down Displays (TP-HDD) simulation experiment addressed multiple objectives involving twelve display concepts (two baseline concepts without terrain and ten synthetic vision system (SVS) variations), four evaluation maneuvers (two en route and one approach maneuver, plus a rare-event scenario), and three pilot group classifications. The TP-HDD SVS simulation was conducted in the NASA Langley Research Center's (LaRC's) General Aviation WorkStation (GAWS) facility. The results from this simulation establish the relationship between terrain portrayal fidelity and pilot situation awareness, workload, stress, and performance and are published in the NASA TP entitled Terrain Portrayal for Synthetic Vision Systems Head-Down Displays Evaluation Results. This is a collection of pilot comments during each run of the TP-HDD simulation experiment. These comments are not the full transcripts, but a condensed version where only the salient remarks that applied to the scenario, the maneuver, or the actual research itself were compiled.

Hughes, Monica F.↗