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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Stereo Imaging Miniature Endoscope

Stereo imaging requires two different perspectives of the same object and, traditionally, a pair of side-by-side cameras would be used but are not feasible for something as tiny as a less than 4-mm-diameter endoscope that could be used for minimally invasive surgeries or geoexploration through tiny fissures or bores. The proposed solution here is to employ a single lens, and a pair of conjugated, multiple-bandpass filters (CMBFs) to separate stereo images. When a CMBF is placed in front of each of the stereo channels, only one wavelength of the visible spectrum that falls within the passbands of the CMBF is transmitted through at a time when illuminated. Because the passbands are conjugated, only one of the two channels will see a particular wavelength. These time-multiplexed images are then mixed and reconstructed to display as stereo images. The basic principle of stereo imaging involves an object that is illuminated at specific wavelengths, and a range of illumination wavelengths is time multiplexed. The light reflected from the object selectively passes through one of the two CMBFs integrated with two pupils separated by a baseline distance, and is focused onto the imaging plane through an objective lens. The passband range of CMBFs and the illumination wavelengths are synchronized such that each of the CMBFs allows transmission of only the alternate illumination wavelength bands. And the transmission bandwidths of CMBFs are complementary to each other, so that when one transmits, the other one blocks. This can be clearly understood if the wavelength bands are divided broadly into red, green, and blue, then the illumination wavelengths contain two bands in red (R1, R2), two bands in green (G1, G2), and two bands in blue (B1, B2). Therefore, when the objective is illuminated by R1, the reflected light enters through only the left-CMBF as the R1 band corresponds to the transmission window of the left CMBF at the left pupil. This is blocked by the right CMBF. The transmitted band is focused on the focal plane array (FPA).

Bae, Youngsam↗
NASA NTRS2012

Dig Hazard Assessment Using a Stereo Pair of Cameras

This software evaluates the terrain within reach of a lander s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth. Onboard dig hazard assessment is accomplished by executing a workspace panorama command sequence. This sequence acquires a set of stereo pairs of images of the terrain the arm can reach, generates a set of candidate dig sectors, and assesses the dig hazard of each candidate dig sector. The 3D perimeter points of candidate dig sectors are generated using configurable parameters. A 3D reconstruction of the terrain in front of the lander is generated using a set of stereo images acquired from the mast cameras. The 3D reconstruction is used to evaluate the dig goodness of each candidate dig sector based on a set of eight metrics. The eight metrics are: 1. The maximum change in elevation in each sector, 2. The elevation standard deviation in each sector, 3. The forward tilt of each sector with respect to the payload frame, 4. The side tilt of each sector with respect to the payload frame, 5. The maximum size of missing data regions in each sector, 6. The percentage of a sector that has missing data, 7. The roughness of each sector, and 8. Monochrome intensity standard deviation of each sector. Each of the eight metrics forms a goodness image layer where the goodness value of each sector ranges from 0 to 1. Goodness values of 0 and 1 correspond to high and low risk, respectively. For each dig sector, the eight goodness values are merged by selecting the lowest one. Including the merged goodness image layer, there are nine goodness image layers for each stereo pair of mast images.

Rankin, Arturo L.↗
NASA NTRS2018

Journey 'Round the Sun: STEREO Science and Spacecraft Performance Results

The Solar TErrestrial RElations Observatory (STEREO) was originally designed as a two to five year heliocentric orbit mission to study coronal mass ejections (CMEs), solar energetic particles (SEPs), and the solar wind. After over ten years of continuous science data collection, the twin NASA STEREO observatories have significantly advanced the understanding of Heliophysics. This mission was the first to image CMEs all the way from the Sun to Earth and to observe the entire sphere of the Sun at one time. STEREO has demonstrated the importance of a point of view beyond the Sun-Earth line to significantly improve CME arrival time estimates and in understanding CME structure and trajectories and the longitudinal distribution of SEPs. STEREO was also the first to use one launch vehicle to insert two spacecraft into opposing heliocentric orbits, undergo a 3.5 month long superior solar conjunction, implement unattended daily science operations on two deep space observatories, maintain 7 arcsec continuous pointing without gyros, and detect and attempt to recover a spacecraft after a 22-month long communications anomaly at a range of 2 AU. This paper discusses the significant performance results after the first ten years of operations of the STEREO mission from its journey around the Sun.

Ossing, Daniel A.↗
NASA NTRS2018

Journey 'Round the Sun: STEREO Science and Spacecraft Performance Results

The Solar TErrestrial RElations Observatory (STEREO) was originally designed as a two- to five-year heliocentric orbit mission to study coronal mass ejections (CMEs), solar energetic particles (SEPs), and the solar wind. After over ten years of continuous science data collection, the twin NASA STEREO observatories have significantly advanced the understanding of Heliophysics. This mission was the first to image CMEs all the way from the Sun to Earth and to observe the entire sphere of the Sun at one time. STEREO has demonstrated the importance of a point of view beyond the Sun-Earth line to significantly improve CME arrival time estimates and in understanding CME structure and trajectories and the longitudinal distribution of SEPs. STEREO was also the first to use one launch vehicle to insert two spacecraft into opposing heliocentric orbits, undergo a 3.5-month-long superior solar conjunction, implement unattended daily science operations on two deep space observatories, maintain 7 arcsec continuous pointing without gyros, and detect and attempt to recover a spacecraft after a 22-month long communications anomaly at a range of 2 AU (Astronomical Units). This paper discusses the significant performance results after the first ten years of operations of the STEREO mission from its journey around the Sun.

Ossing, Daniel A.↗
NASA NTRS2017

Depth from Stereo and Polarization of Opaque Non-Lambertian Surfaces

This paper presents a new approach to depth from stereo in scenes with non-Lambertian surfaces. While these surfaces usually prove to be hard to incorporate in photo-consistency energy minimization, we retrieve additional information about their surface normals from applying a polarization-based approach that computes the degree and angle of polarization at each pixel. Therefore, we set up a stereo camera rig that captures four different rotations of a linear polarizer simultaneously for each camera. While most existing polarization-based approaches to shape reconstruction require a setup with known lighting, our approach uses arbitrary unpolarized illumination. We describe a regularization-based stereo approach that constrains specular surface normals in the scene to lie in the plane of their observed angle of polarization. We derive the mathematical foundations of this approach and present results on virtually generated stereo and real-world stereo imagery.

Berger, Kai↗
NASA NTRS2021

STEReO

STEReO brings together several technologies in Unmanned Aircraft Systems (UAS) Traffic Management (UTM), Autonomy, Communications, Human Factors, and Domain Expertise & Tools, aimed at providing scalability and flexibility, as well as operational resiliency to dynamic changes during a disaster event. Some of the concepts STEReO explores are: collaborative tools to ingest remote sensing information and distribute a common mission operating picture, apply ad-hoc communication networks to facilitate timely information sharing and communication of changes, vehicle-to-vehicle and onboard autonomy technologies ensure the safety and resiliency of operations, and apply NASA’s UAS traffic management system (UTM) as a public safety UAS Service Supplier (USS) to access and coordinate use of the airspace by both manned and unmanned operations. The potential benefits of STEReO include: standardized, cross-platform communication means increased interoperability and ease of cooperation/collaboration, increased situation awareness and common operating picture allow for earlier detection and decision making, and scalable to size and complexity of environment, operations, and mission objectives. This brochure/posture gives an overview of the STEReO project and identifies STEReO as one of the research efforts under the Convergent Aeronautics Solutions (CAS) project within ARMD's Transformative Aeronautics Concepts Program (TACP).

traffic management↗
NASA NTRS2021

Three-Dimensional Measurement of the Crater Formation During Plume–Surface Interactions Using Stereo-Photogrammetry

The present investigation focused on adapting and validating stereo-photogrammetry for obtaining 3-D, time-resolved, non-intrusive, full-domain measurements of crater evolution during the plume-surface interaction (PSI) process. An atmospheric experimental facility was designed and constructed to facilitate the development of the stereo-photogrammetry technique for PSI applications. Stereo-photogrammetry was then used to measure the dynamic crater evolution process at nozzle heights of 25, 40, 55, and 70 nozzle diameters above the sand simulant bed. From the stereo-photogrammetry data, time-resolved 3-D reconstructions of the crater geometry were generated, and crater depth, radius, and volume time histories were extracted. Crater depth was observed to grow logarithmically for the two highest nozzle heights, and the depth growth rate for the lower two nozzle heights was more rapid. Crater volume growth was well characterized by a power law fit. The slope of the collapsed crater post nozzle flow was found to increase with nozzle height, along with the final crater volume. The results show that stereo-photogrammetry can be used to successfully measure the crater geometry in cases where optical access to the crater is not completely degraded by ejected particles.

DC Stubbs↗
NASA NTRS2006

Attenuating Stereo Pixel-Locking via Affine Window Adaptation

For real-time stereo vision systems, the standard method for estimating sub-pixel stereo disparity given an initial integer disparity map involves fitting parabolas to a matching cost function aggregated over rectangular windows. This results in a phenomenon known as 'pixel-locking,' which produces artificially-peaked histograms of sub-pixel disparity. These peaks correspond to the introduction of erroneous ripples or waves in the 3D reconstruction of truly Rat surfaces. Since stereo vision is a common input modality for autonomous vehicles, these inaccuracies can pose a problem for safe, reliable navigation. This paper proposes a new method for sub-pixel stereo disparity estimation, based on ideas from Lucas-Kanade tracking and optical flow, which substantially reduces the pixel-locking effect. In addition, it has the ability to correct much larger initial disparity errors than previous approaches and is more general as it applies not only to the ground plane.

pixel locking effect↗
NASA NTRS2021

STEReO AIAA 2021

STEReO brings together several technologies in Unmanned Aircraft Systems (UAS) Traffic Management (UTM), Autonomy, Communications, Human Factors, and Domain Expertise & Tools, aimed at providing scalability and flexibility, as well as operational resiliency to dynamic changes during a disaster event. Some of the concepts STEReO explores are: collaborative tools to ingest remote sensing information and distribute a common mission data set, apply ad-hoc communication networks to facilitate timely information sharing and communication of changes, vehicle-to-vehicle and onboard autonomy technologies ensure the safety and resiliency of operations, and apply NASA’s UAS traffic management system (UTM) as a public safety UAS Service Supplier (USS) to access and coordinate use of the airspace by both manned and unmanned operations. The potential benefits of STEReO include: standardized, cross-platform communication means increased interoperability and ease of cooperation/collaboration, increased situation awareness to assist in earlier detection and decision making, and scalable to size and complexity of environment, operations, and mission objectives. This presentation gives a high-level overview of the STEReO concept, what we have done so far, and a preview of what's to come.

UAS vehicles↗
NASA NTRS1979

Accuracy aspects of stereo side-looking radar

The geometry of the radar stereo model and factors affecting visual radar stereo perception are reviewed. Limits to the vertical exaggeration factor of stereo radar are defined. Radar stereo model accuracies are analyzed with respect to coordinate errors caused by errors of radar sensor position and of range, and with respect to errors of coordinate differences, i.e., cross-track distances and height differences.

Leberl, F. W.↗
NASA NTRS1981

Artificial stereo presentation of meteorological data fields

The innate capability to perceive three-dimensional stereo imagery has been exploited to present multidimensional meteorological data fields. Variations on an artificial stereo technique first discussed by Pichel et al. (1973) are used to display single and multispectral images in a vivid and easily assimilated manner. Examples of visible/infrared artificial stereo are given for Hurricane Allen and for severe thunderstorms on 10 April 1979. Three-dimensional output from a mesoscale model also is presented. The images may be viewed through the glasses inserted in the February 1981 issue of the Bulletin of the American Meteorological Society, with the red lens over the right eye. The images have been produced on the interactive Atmospheric and Oceanographic Information Processing System (AOIPS) at Goddard Space Flight Center. Stereo presentation is an important aid in understanding meteorological phenomena for operational weather forecasting, research case studies, and model simulations.

Hasler, A. F.↗
NASA NTRS1983

Simulation of spaceborne stereo radar imagery - Experimental results

Computer simulation of radar imagery was used to investigate spaceborne stereo radar. The major conclusions reached are that stereo pairs representing different angles of incidence with the same look-direction appear best and that the angles of incidence and stereo intersection angle be matched to the slope and relief of terrain. A parametric tradeoff analysis was performed for eleven different angles of incidence over three different model areas. The eleven angles spanned the range from small- to large-incidence angles. The three model areas were selected as typical of relatively flat, moderately rough, and mountainous terrain. The stereo pair judged best for each model area are included.

Kaupp, V. H.↗
NASA NTRS1986

Multiple incidence angle SIR-B experiment over Argentina Stereo-radargrammetric analysis

Four overlapping Shuttle Imaging Radar-B (SIR-B) radar images were obtained across southern Argentina; these form a total of six stereo models with intersection angles ranging from 5 to 23 deg. This data set is uniquely suited for experimental evaluation of some basic assumptions on stereo-radargrammetry. Each stereo model was measured on a specially programmed photogrammetric analytical plotter; the resulting coordinates of ground points were compared with those from maps. It is concluded that accuracies are lower than expected at the larger stereo-intersection angles, amounting to about + or 60 m in each coordinate direction. This might be explained by limitations of the quality of stereofusion caused by look angle differences and specular point migration, backscatter differences due to different incidence angles, differences in azimuth directions, and image noise and speckle.

Leberl, F.↗
NASA NTRS1988

SIR-B stereo-radargrammetry of Australia

Results are reported from an ongoing program of radargrammetric experimentation with SIR-B data. Six stereo models of orbits over Australia were processed in an analytical stereo plotter. Height accuracies were up to + or - 25 m or 1.8 times the range resolution. This is better than in previous SIR-B stereo work, probably due to better image quality. Some inconsistencies were encountered between look angle geometries and height measurement accuracies. While general observations about earlier SIR-B stereo results were confirmed, inconsistencies with theoretical expectations could not be fully explained.

Leberl, F.↗
NASA NTRS1989

Television monitor field shifter and an opto-electronic method for obtaining a stereo image of optimal depth resolution and reduced depth distortion on a single screen

A method and apparatus for obtaining a stereo image with reduced depth distortion and optimum depth resolution. Static and dynamic depth distortion and depth resolution trade-off is provided. Cameras obtaining the images for a stereo view are converged at a convergence point behind the object to be presented in the image, and (a) the collection-surface-to-object distance, (b) the camera separation distance, and (c) the focal lengths of zoom lenses for the camera are all increased. Doubling the distances cuts the static depth distortion in half while maintaining image size and depth resolution. Dynamic depth distortion is minimized by panning a stereo view-collecting camera system about a circle which passes through the convergence point and the cameras' first nodal points. Horizontal field shifting of the television fields on a television monitor brings both the monitor and the stereo views within the viewer's limit of binocular fusion.

Daniel B Diner↗
NASA NTRS1988

Static stereo vision depth distortions in teleoperation

A major problem in high-precision teleoperation is the high-resolution presentation of depth information. Stereo television has so far proved to be only a partial solution, due to an inherent trade-off among depth resolution, depth distortion and the alignment of the stereo image pair. Converged cameras can guarantee image alignment but suffer significant depth distortion when configured for high depth resolution. Moving the stereo camera rig to scan the work space further distorts depth. The 'dynamic' (camera-motion induced) depth distortion problem was solved by Diner and Von Sydow (1987), who have quantified the 'static' (camera-configuration induced) depth distortion. In this paper, a stereo image presentation technique which yields aligned images, high depth resolution and low depth distortion is demonstrated, thus solving the trade-off problem.

Diner, D. B.↗
NASA NTRS1992

Error Analysis of Combined Optical-Flow and Stereo Passive Ranging

The motion of an imaging sensor causes each imaged point of the seem to describe a time trajectory on the image plane. The trajectories of all imaged points are reminiscent of a flow (eg, of liquid) which is the source of the term "optical flow". Optical-flow ranging is a method by which the stream of two-dimensional images obtained from a forward-looking forward-moving passive sensor is used to compute range to points in the field of view. Another well-known ranging method consists of triangulation based on stereo images obtained from at least two stationary sensors. In this paper we analyze the potential accuracies of a combined optical flow and stereo passive-ranging system in the context of helicopter nap-of-the-earth obstacle avoidance. The Cramer-Rao lower bound (CRLB) is developed for the combined system under the assumption of a random angular misalignment common to both cameras of a stereo pair. It is shown that the range accuracy degradations caused by misalignment is negligible for a combined optical-flow and stereo system as compared with a monocular optical-flow system.

Barniv, Yair↗
NASA NTRS2000

Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation

One goal of the "Demo III" unmanned ground vehicle program is to enable autonomous nighttime navigation at speeds of up to 10 m.p.h. To perform obstacle detection at night with stereo vision will require night vision cameras that produce adequate image quality for the driving speeds, vehicle dynamics, obstacle sizes, and scene conditions that will be encountered. This paper analyzes the suitability of four classes of night vision cameras (3-5 micrometer cooled FLIR, 8-12 micrometer cooled FLIR, 8-12 micrometer uncooled FLIR, and image intensifiers) for night stereo vision, using criteria based on stereo matching quality, image signal to noise ratio, motion blur and synchronization capability. We find that only cooled FLIRs will enable stereo vision performance that meets the goals of the Demo III program for nighttime autonomous mobility.

Owens, Ken↗