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NASA NTRS2018

Virtual Sensors Determined Through Machine Learning

We propose a method that increases the capability of a conventional sensor/instrument, transforming it into an enhanced virtual sensor/instrument. This paper focuses on a virtual thermal IR sensor based on a conventional visual (RGB) sensor. The estimation of thermal IR images can enhance the ability of terrain classification, which is crucial for autonomous navigation of rovers. The estimate in IR from visual band has inherent limitations, as these are different bands, yet correlations between visual/RGB and thermal IR images exist, as different terrains, which visually may appear different, also have different thermal inertia. We developed a deep learning-based algorithm that estimates thermal IR images from RGB images of terrains, providing the feasibility of the idea with average 1.21 error [degree].

Kurazume, Ryo↗
NASA NTRS2016

Geocam Space: Enhancing Handheld Digital Camera Imagery from the International Space Station for Research and Applications

Handheld astronaut photography of the Earth has been collected from the International Space Station (ISS) since 2000, making it the most temporally extensive remotely sensed dataset from this unique Low Earth orbital platform. Exclusive use of digital handheld cameras to perform Earth observations from the ISS began in 2004. Nadir viewing imagery is constrained by the inclined equatorial orbit of the ISS to between 51.6 degrees North and South latitude, however numerous oblique images of land surfaces above these latitudes are included in the dataset. While unmodified commercial off-the-shelf digital cameras provide only visible wavelength, three-band spectral information of limited quality current cameras used with long (400+ mm) lenses can obtain high quality spatial information approaching 2 meters/ground pixel resolution. The dataset is freely available online at the Gateway to Astronaut Photography of Earth site (http://eol.jsc.nasa.gov), and now comprises over 2 million images. Despite this extensive image catalog, use of the data for scientific research, disaster response, commercial applications and visualizations is minimal in comparison to other data collected from free-flying satellite platforms such as Landsat, Worldview, etc. This is due primarily to the lack of fully-georeferenced data products - while current digital cameras typically have integrated GPS, this does not function in the Low Earth Orbit environment. The Earth Science and Remote Sensing (ESRS) Unit at NASA Johnson Space Center provides training in Earth Science topics to ISS crews, performs daily operations and Earth observation target delivery to crews through the Crew Earth Observations (CEO) Facility on board ISS, and also catalogs digital handheld imagery acquired from orbit by manually adding descriptive metadata and determining an image geographic centerpoint using visual feature matching with other georeferenced data, e.g. Landsat, Google Earth, etc. The lack of full geolocation information native to the data makes it difficult to integrate astronaut photographs with other georeferenced data to facilitate quantitative analysis such as urban land cover/land use classification, change detection, or geologic mapping. The manual determination of image centerpoints is both time and labor-intensive, leading to delays in releasing geolocated and cataloged data to the public, such as the timely use of data for disaster response. The GeoCam Space project was funded by the ISS Program in 2015 to develop an on-orbit hardware and ground-based software system for increasing the efficiency of geolocating astronaut photographs from the ISS (Fig. 1). The Intelligent Robotics Group at NASA Ames Research Center leads the development of both the ground and on-orbit systems in collaboration with the ESRS Unit. The hardware component consists of modified smartphone elements including cameras, central processing unit, wireless Ethernet, and an inertial measurement unit (gyroscopes/accelerometers/magnetometers) reconfigured into a compact unit that attaches to the base of the current Nikon D4 camera - and its replacement, the Nikon D5 - and connects using the standard Nikon peripheral connector or USB port. This provides secondary, side and downward facing cameras perpendicular to the primary camera pointing direction. The secondary cameras observe calibration targets with known internal X, Y, and Z position affixed to the interior of the ISS to determine the camera pose corresponding to each image frame. This information is recorded by the GeoCam Space unit and indexed for correlation to the camera time recorded for each image frame. Data - image, EXIF header, and camera pose information - is transmitted to the ground software system (GeoRef) using the established Ku-band USOS downlink system. Following integration on the ground, the camera pose information provides an initial geolocation estimate for the individual film frame. This new capability represents a significant advance in geolocation from the manual feature-matching approach for both nadir and off-nadir viewing imagery. With the initial geolocation estimate, full georeferencing of an image is completed using the rapid tie-pointing interface in GeoRef, and the resulting data is added to the Gateway to Astronaut Photography of Earth online database in both Geotiff and Keyhole Markup Language (kml) formats. The integration of the GeoRef software component of Geocam Space into the CEO image cataloging workflow is complete, and disaster response imagery acquired by the ISS crew is now fully georeferenced as a standard data product. The on-orbit hardware component (GeoSens) is in final prototyping phase, and is on-schedule for launch to the ISS in late 2016. Installation and routine use of the Geocam Space system for handheld digital camera photography from the ISS is expected to significantly improve the usefulness of this unique dataset for a variety of public- and private-sector applications.

Stefanov, William L.↗
NASA NTRS1977

On a correlation between surface remanent magnetism and chemistry for the lunar frontside and limbs

Image-processing techniques applied to orbital data have revealed an inverse correlation between lunar surface remanent magnetism and surface concentrations of Fe and Th on a scale of 250 km and greater. The effect can be understood in terms of the implantation of magnetism early in the history of the moon, coupled with the chronological sequence of highland-mare crustal differentiation. The exception seen at the Fra Mauro region suggests the presence of a source of magnetization sometime within 0.3-0.6 b.y. after formation of the moon.

Metzger, A. E.↗
NASA NTRS1993

AVIRIS spectra correlated with the chlorophyll concentration of a forest canopy

Imaging spectrometers have many potential applications in the environmental sciences. One of the more promising applications is that of estimating the biochemical concentrations of key foliar biochemicals in forest canopies. These estimates are based on spectroscopic theory developed in agriculture and could be used to provide the spatial inputs necessary for the modeling of forest ecosystem dynamics and productivity. Several foliar biochemicals are currently under investigation ranging from those with primary absorption features in visible to middle infrared wavelengths (e.g., water, chlorophyll) to those with secondary to tertiary absorption features in this part of the spectrum (e.g., nitrogen, lignin). The foliar chemical of interest in this paper is chlorophyll; this is a photoreceptor and catalyst for the conversion of sunlight into chemical energy and as such plays a vital role in the photochemical synthesis of carbohydrates in plants. The aim of the research reported here was to determine if the chlorophyll concentration of a forest canopy could be correlated with the reflectance spectra recorded by the Airborne Visible/Infrared Imaging Spectrometer (AVIRIS).

Kupiec, John↗
NASA NTRS1999

Characterization of Infrared Diode Laser Beams and Atmospheric CO Imaging Instrument

During June-August 1997 Dr. Jonathan Miles participated in the ASEE-sponsored summer faculty research program at NASA Langley Research Center (LaRC). The Aerospace Electronic Systems Division (AESD), Sensor Systems Branch (SSB), at NASA LARC had proposed a new mission, GEOstationary TROpospheric Pollution SATellite (GEO TROPSAT), to address critical science questions of tropospheric chemistry. The troposphere is a complex system, comprising "point" and distributed sources of natural and anthropogenic origin; complicated transport processes, both lateral and vertical; and photochemistry driven by UV flux, temperature, atmospheric composition, and other variables. GEO TROPSAT would be implemented about a geostationary Earth orbital (GEO) position at the equator between 600 and 80" West longitude to observe the Americas and large portions of the oceans of either coast. This mission would advance our knowledge of the atmosphere by capturing the wide temporal and spatial variability of tropospheric phenomena which is undetectable from low Earth orbit. A pre-prototype imaging carbon monoxide (CO) imaging system operating within a narrow waveband about 4.7 [Lm was built, demonstrated, and evaluated. This system applies the gas-filter correlation radiometry (GFCR) technique and produces digitized images comprising 4096 pixels, each representing a single CO mixing ratio measurement inferred from radiometric data. Associated tasks accomplished included specification for the next-generation prototype system to operate in the 2.3-@tm waveband; characterization of a 64x64, InSb focal-plane-array (FPA) imager; design, fabrication, and assembly of a filter wheel; and software development. Laboratory evaluation of this system involved imaging of a test cell placed in the path of radiant flux emanating from a blackbody source used to simulate the radiant energy reflected by Earth in real application. The cell was evacuated for system balancing and then charged with measured quantities of CO to provide a means for system characterization. Two related research efforts were undertaken during the term of the study reported here - continued development of an atmospheric CO imaging instrument and characterization of diode-laser beams. Both efforts were successful and are described within the body of this report. A second objective was to provide a means for undergraduate ISAT majors to become involved with the research described, to be afforded the opportunity to learn the technologies associated with the work performed. Two ISAT students gained a comprehensive understanding and interest in missions supported by NASA through direct involvement in this project. Many more students were exposed to these technologies through demonstrations, laboratory tours, and explanations provided in lectures.

Miles, Jonathan J.↗
NASA NTRS1994

Sea ice lead dynamics from ERS-1 SAR

The use of ERS-1 SAR (Synthetic Aperture Radar) images to measure ice lead changes and ice deformation, and thus to determine their relationships and compare them to theory, is reported. ERS-1 SAR data collected at the Alaska (U.S.) SAR facility are processed into low resolution geocoded images which are used as input to the Geophysical Processor System (GPS). The GPS uses cross correlation and edge detection on sequential pairs of images to track a regular 5 km array of grid points. The result for each sequential image pair is a field of ice displacement that contains, on average, more than 200 vectors. The GPS also classifies all the pixels of the images into one of four ice types based on the normalized backscatter coefficients and a seasonal look-up table. This allows all pixels to be labeled as either multiyear ice or as the first year ice and open water that comprise leads.

Stern, Harry L.↗
NASA NTRS2011

180-GHz Interferometric Imager

A 180-GHz interferometric imager uses compact receiver modules, combined high- and low-gain antennas, and ASIC (application specific integrated circuit) correlator technology, enabling continuous, all-weather observations of water vapor with 25-km resolution and 0.3-K noise in 15 minutes of observation for numerical weather forecasting and tropical storm prediction. The GeoSTAR-II prototype instrument is broken down into four major subsystems: the compact, low-noise receivers; sub-array modules; IF signal distribution; and the digitizer/correlator. Instead of the single row of antennas adopted in GeoSTAR, this version has four rows of antennas on a coarser grid. This dramatically improves the sensitivity in the desired field of view. The GeoSTAR-II instrument is a 48-element, synthetic, thinned aperture radiometer operating at 165-183 GHz. The instrument has compact receivers integrated into tiles of 16 elements in a 4x4 arrangement. These tiles become the building block of larger arrays. The tiles contain signal distribution for bias controls, IF signal, and local oscillator signals. The IF signals are digitized and correlated using an ASIC correlator to minimize power consumption. Previous synthetic aperture imagers have used comparatively large multichip modules, whereas this approach uses chip-scale modules mounted on circuit boards, which are in turn mounted on the distribution manifolds. This minimizes the number of connectors and reduces system mass. The use of ASIC technology in the digitizers and correlators leads to a power reduction close to an order of magnitude.

Kangaslahti, Pekka P.↗
NASA NTRS1999

Information-Theoretic Assessment of Sample Imaging Systems

By rigorously extending modern communication theory to the assessment of sampled imaging systems, we develop the formulations that are required to optimize the performance of these systems within the critical constraints of image gathering, data transmission, and image display. The goal of this optimization is to produce images with the best possible visual quality for the wide range of statistical properties of the radiance field of natural scenes that one normally encounters. Extensive computational results are presented to assess the performance of sampled imaging systems in terms of information rate, theoretical minimum data rate, and fidelity. Comparisons of this assessment with perceptual and measurable performance demonstrate that (1) the information rate that a sampled imaging system conveys from the captured radiance field to the observer is closely correlated with the fidelity, sharpness and clarity with which the observed images can be restored and (2) the associated theoretical minimum data rate is closely correlated with the lowest data rate with which the acquired signal can be encoded for efficient transmission.

Huck, Friedrich O.↗
NASA NTRS2006

Final Results from the BIMA CMB Anisotropy Survey and Search for Signature of the SZ Effect

We report the final results of our study of the cosmic microwave background (CMB) with the BIMA array. Over 1000 hours of observation were dedicated to this project exploring CMB anisotropy on scales between 1' and 2' in eighteen 6'.6 FWHM fields. In the analysis of the CMB power spectrum, the visibility data is divided into two bins corresponding to different angular scales. Modeling the observed excess power as a flat band of average multipole l(sub eff)= 5237, we find deltaT(sup 2)(sub 1) = 220(sup +140)(sub -120) mu K(sup 2) at 68% confidence and deltaT(sup 2)(sub 1) greater than 0 muK(sup 2) with 94.7% confidence. In a second band with average multipole of l(sub eff) = 8748, we find deltaT(sup 2)(sub 2) consistent with zero, and an upper limit 880 muK(sup 2) at 95% confidence. An extensive series of tests and supplemental observations with the VLA provide strong evidence against systematic errors or radio point sources being the source of the observed excess power. The dominant source of anisotropy on these scales is expected to arise from the Sunyaev-Zel'dovich (SZ) effect in a population of distant galaxy clusters. If the excess power is due to the SZ effect, we can place constraints on the normalization of the matter power spectrum sigma(sub 8) = 1.03(sup +0.20)(sub -0.29) at 68% confidence. The distribution of pixel fluxes in the BIMA images are found to be consistent with simulated observations of the expected SZ background and rule out instrumental noise or radio sources as the source of the observed excess power with similar confidence to the detection of excess power. Follow-up optical observations to search for galaxy over-densities anti-correlated with flux in the BIMA images, as might be expected from the SZ effect, proved to be inconclusive.

Dawson, K. S.↗
NASA NTRS1977

Class of near-perfect coded apertures

Coded aperture imaging of gamma ray sources has long promised an improvement in the sensitivity of various detector systems. The promise has remained largely unfulfilled, however, for either one of two reasons. First, the encoding/decoding method produces artifacts, which even in the absence of quantum noise, restrict the quality of the reconstructed image. This is true of most correlation-type methods. Second, if the decoding procedure is of the deconvolution variety, small terms in the transfer function of the aperture can lead to excessive noise in the reconstructed image. It is proposed to circumvent both of these problems by use of a uniformly redundant array (URA) as the coded aperture in conjunction with a special correlation decoding method.

Cannon, T. M.↗
NASA NTRS1997

Registration assisted mosaic generation

This paper presents a general strategy for assembling mosaics from numerous individual images where uncertainty exists in the position and orientation of those images. Both of the presented applications relate to remotely operated camera platforms, the first being the Galileo solid state imaging (SSI) camera presently in orbit around Jupiter, and the second being the Imager for Mars Pathfinder (IMP) stereo camera on Mars. A basic strategy in both applications is to determine the correct relative camera pointing followed by direct map projection of the images. It is assumed that approximate camera pointing exists sufficient to locate adjacent images and to place initial tiepoints within reach of the correlator. Spatial correlation is used to fix tiepoints whose initial locations are predicted by the camera pointing. We use either an fast fourier transform (fft) algorithm or a variant of Gruen's scheme permitting limited image rotation and skew. The Gruen correlator has three hierarchical modes: 1) A classical spatial least squares correlation on integral pixel boundaries used when rotation is small. 2) An annealing non-deterministic search used when rotations are unknown. A simplex deterministic search used for the end game. The correlation operation can be performed either interactively or autonomously. The final camera pointing solution relies upon a simplex downhill search in 2n or 3n dimensions where n is the number of images comprising the mosaic and the objective function to be minimized is the disagreement between tiepoint locations predicted from the camera pointing with those observed by the correlator. For Galileo the 3n unknowns are euler angles defining camera pointing in planet coordinates, and for Mars Pathfinder they are 2n unknowns representing commanded azimuth and elevation in the Lander coordinate system.

Lorre, Jean J.↗
NASA NTRS1975

Summary of space imagery studies in Utah and Nevada

LANDSAT-1, Skylab, and RB-57 imagery acquired within days of each other of the San Rafael swell enabled geological mapping of individual formations of the southern portion of this broad anticlinal feature in eastern Utah. Mapping at a scale of 1/250,000 on an enhanced and enlarged S-190B image resulted in a geological map showing correlative mappable features that are indicated on the geological map of Utah at the same scale. An enhanced enlargement of an S-190B color image at a scale of 1/19,200 of the Bingham Porphyry Copper deposit allowed comparison of a geological map of the area with the space imagery map as fair for the intrusion boundaries and total lack of quality for mapping the sediments. Hydrothermal alteration is only slightly evident on space imagery at Bingham but in the Tintic mining district and the volcanic piles of the Keg and Thomas ranges, Utah, hydrothermal alteration is readily mapped on color enlargements of S-190B (SL-3, T3-3N Tr-2). A mercury soil-gas analyzer was developed for locating hidden mineralized zones which were suggested from space imagery.

Jensen, M. L.↗
NASA NTRS2005

Low-Cost Flow Visualization for a Supersonic Ejector

Shadowgraph techniques were applied to the cold flow ejector facility at the Propulsion Research Center at the University of Alabama in Huntsville. The setup for the experiments was relatively simple and was accomplished at very little cost. Series of shadowgraph images were taken of both dual nozzle and single nozzle strut based ejectors operating over a range of chamber pressures. The density gradient patterns in the shadowgraphs were compared to pressure data measured along the top and side walls of the mixing duct. The shadowgraph images showed the presence of barrel shocks emanating from the nozzles which at low pressures terminated in Mach disks and at higher pressures extended beyond the barrel shape and reflected off the walls of the duct. Based on pressure data from previous testing, reflected shocks were expected on the walls of the duct. The shadowgraph images confirmed the locations of these reflected shocks on the top wall of the duct. The shadowgraph images also showed the structure change which correlated to a change in pitch of the ejector noise, and corresponded to a change in trend of the duct wall pressure ratio distributions. The images produced from the setup provided insight into the complex flow behavior inside the ejector duct. In addition, the techniques were a valuable tool as an educational device for students.

Olden, George W.↗
NASA NTRS1974

A study to explore the use of orbital remote sensing to determine native arid plant distribution

The author has identified the following significant results. It is possible to determine, from ERTS imagery, native arid plant distribution. Using techniques of multispectral masking and extensive fieldwork, three native vegetation communities were defined and mapped in the Avra Valley study area. A map was made of the Yuma area with the aid of ground truth correlations between areas of desert pavement visible on ERTS images and unique vegetation types. With the exception of the Yuma soil-vegetation correlation phenomena, only very gross differentiations of desert vegetation communities can be made from ERTS data. Vegetation communities with obvious vegetation density differences such as saguaro-paloverde, creosote bush, and riparian vegetation can be separated on the Avra Valley imagery while more similar communities such as creosote bush and saltbush could not be differentiated. It is suggested that large differences in vegetation density are needed before the signatures of two different vegetation types can be differentiated on ERTS imagery. This is due to the relatively insignificant contribution of vegetation to the total radiometric signature of a given desert scene. Where more detailed information concerning the vegetation of arid regions is required, large scale imagery is appropriate.

Mcginnies, W. G.↗
NASA NTRS1991

Surface temperature statistics over Los Angeles - The influence of land use

Surface temperature statistics from 84 NOAA AVHRR (Advanced Very High Resolution Radiometer) satellite images of the Los Angeles basin are interpreted as functions of the corresponding urban land-cover classified from a multispectral SPOT image. Urban heat islands observed in the temperature statistics correlate well with the distribution of industrial and fully built areas. Small cool islands coincide with highly watered parks and golf courses. There is a significant negative correlation between the afternoon surface temperature and a vegetation index computed from the SPOT image.

Dousset, Benedicte↗
NASA NTRS2010

Lunar Terrain and Albedo Reconstruction from Apollo Imagery

Generating accurate three dimensional planetary models and albedo maps is becoming increasingly more important as NASA plans more robotics missions to the Moon in the coming years. This paper describes a novel approach for separation of topography and albedo maps from orbital Lunar images. Our method uses an optimal Bayesian correlator to refine the stereo disparity map and generate a set of accurate digital elevation models (DEM). The albedo maps are obtained using a multi-image formation model that relies on the derived DEMs and the Lunar- Lambert reflectance model. The method is demonstrated on a set of high resolution scanned images from the Apollo era missions.

Nefian, Ara V.↗
NASA NTRS1987

Characterization of surficial units on Mars using Viking orbiter multispectral image and thermal data

Albedo and thermal property correlations of the topography of Mars were conducted with emphases upon the types and origins of materials exposed in the central equatorial region. This area displays a wide variation in color, albedo and thermal properties, and is relatively free of dust and haze. The physical, mineralogical and elemental characteristics of this area are discussed.

Presley, M. A.↗