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NASA NTRS1993

Integer cosine transform compression for Galileo at Jupiter: A preliminary look

The Galileo low-gain antenna mission has a severely rate-constrained channel over which we wish to send large amounts of information. Because of this link pressure, compression techniques for image and other data are being selected. The compression technique that will be used for images is the integer cosine transform (ICT). This article investigates the compression performance of Galileo's ICT algorithm as applied to Galileo images taken during the early portion of the mission and to images that simulate those expected from the encounter at Jupiter.

Ekroot, L.↗
NASA NTRS2003

EVA Robotic Assistant Project: Platform Attitude Prediction

The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

Nickels, Kevin M.↗
NASA NTRS2005

Interannual Variability of Tropical Rainfall as Seen From TRMM

Considerable uncertainty surrounds the issue of whether precipitation over the tropical oceans (30deg N/S) systematically changes with interannual sea-surface temperature (SST) anomalies that accompany El Nino (warm) and La Nina (cold) events. Although it is well documented that El Nino-Southern Oscillation (ENSO) events with marked SST changes over the tropical oceans produce significant regional changes in precipitation, water vapor, and radiative fluxes in the tropics, we still cannot yet adequately quantify the associated net integrated changes to water and heat balance over the entire tropical oceanic or land sectors. Resolving this uncertainty is important since precipitation and latent heat release variations over land and ocean sectors are key components of the tropical heat balance in its most aggregated form. Rainfall estimates from the Version 5 Tropical Rainfall Measuring Mission (TRMM) Precipitation Radar (PR) averaged over the tropical oceans have not solved this issue and, in fact, show marked differences with estimates from two TRMM Microwave Imager (TMI) passive microwave algorithms. In this paper we will focus on findings that uncertainties in microphysical assumptions necessitated by the single-frequency PR measurement pose difficulties for detecting climate-related precipitation signals. Recent work has shown that path-integrated attenuation derived from the effects of precipitation on the radar return from the ocean surface exhibits interannual variability that agrees closely with the TMI time series, yet the PR rainfall interannual variability (and attenuation derived predominantly from reflectivity) differs even in sign. We will explore these apparent inconsistencies and examine changes in new TRMM Version 6 retrievals. To place these results in a tropical water balance perspective we also examine interannual variations in evaporation over the tropical oceans made from TRMM and SSM/I (Special Sensor Microwave Imager) measurements of surface winds and humidity. Evaporation estimates from reanalysis and several global model experiments will also be compared to the TRMM findings and evaluated for consistency. The ability to detect regional shifts in freshwater flux over the oceans (equivalently, integrated moisture convergence) and moisture transport will be discussed.

Robertson, Franklin R.↗
NASA NTRS1996

Seasonal Characteristics of the Perennial Ice Cover of the Beaufort Sea

By definition, ice which survives the summer is classified as multiyear ice. Thus the area covered by multiyear ice during the winter should be nearly equivalent to the ice area during the previous summer's minima. This condition provides a reasonable criterion for the evaluation of ice concentration and ice type retrieval algorithms using remote-sensing data sets. From special sensor microwave imager (SSM/I) data the NASA Team algorithm estimates the multiyear, first-year, and total ice concentrations during the winter using combinations of the polarization and spectral gradient ratios. The Team algorithm provides only estimates of ice concentration in the summer. From ERS 1 synthetic aperture radar (SAR) data the remarkably stable contrast between multiyear ice and first-year ice in winter provides consistent estimates of multiyear ice concentrations. In the summer, multiyear ice concentration cannot be estimated from SAR or SSM/I data because free water on the surface effectively masks the backscatter and emissivity signature of this ice type. From SAR data a technique which takes advantage of the high backscatter of wind-roughened open water as a discrimination feature is used to estimate the total ice concentration in the summer. With a year-long (January 1992 to January 1993) data set from the Beaufort Sea we found that the multiyear ice concentration estimates from the SAR data are stable and are nearly equivalent to the ice concentration estimated at the end of the previous summer. We contrast this with the variability of the multiyear ice concentration and ice friction estimates obtained using SSM/I data. The Team algorithm produces ice concentration and multiyear ice estimates which are consistently lower than those from the SAR data. We discuss reasons for these discrepancies and the implications of the higher than previously noted multiyear ice concentrations.

Kwok, R.↗
NASA NTRS2012

Nonlinear Estimation Approach to Real-Time Georegistration from Aerial Images

When taking aerial images, it is important to know locations of specific points of interest in an Earth-centered coordinate system (latitude, longitude, height). The correspondence between a pixel location in the image and its Earth coordinate is known as georegistration. There are two main technical challenges arising in the intended application. The first is that no known features are assumed to be available in any of the images. The second is that the intended applications are real time. Here, images are taken at regular intervals (i.e. once per second), and it is desired to make decisions in real time based on the geolocation of specific objects seen in the images as they arrive. This is in sharp contrast to most current methods for geolocation that operate "after-the-fact" by processing, on the ground, a database of stored images using computationally intensive methods. The solution is a nonlinear estimation algorithm that combines processed realtime camera images with vehicle position and attitude information ob tained from an onboard GPS receiver. This approach provides accurate georegistration estimates (latitude, longitude, height) of arbitrary features and/or points of interest seen in the camera images. This solves the georegistration problem at the modest cost of augmenting the camera information with a GPS receiver carried onboard the vehicle.

Bayard, David S.↗
NASA NTRS2005

A Fast Implementation of the ISODATA Clustering Algorithm

Clustering is central to many image processing and remote sensing applications. ISODATA is one of the most popular and widely used clustering methods in geoscience applications, but it can run slowly, particularly with large data sets. We present a more efficient approach to ISODATA clustering, which achieves better running times by storing the points in a kd-tree and through a modification of the way in which the algorithm estimates the dispersion of each cluster. We also present an approximate version of the algorithm which allows the user to further improve the running time, at the expense of lower fidelity in computing the nearest cluster center to each point. We provide both theoretical and empirical justification that our modified approach produces clusterings that are very similar to those produced by the standard ISODATA approach. We also provide empirical studies on both synthetic data and remotely sensed Landsat and MODIS images that show that our approach has significantly lower running times.

Memarsadeghi, Nargess↗
NASA NTRS2007

A Fast Implementation of the Isodata Clustering Algorithm

Clustering is central to many image processing and remote sensing applications. ISODATA is one of the most popular and widely used clustering methods in geoscience applications, but it can run slowly, particularly with large data sets. We present a more efficient approach to IsoDATA clustering, which achieves better running times by storing the points in a kd-tree and through a modification of the way in which the algorithm estimates the dispersion of each cluster. We also present an approximate version of the algorithm which allows the user to further improve the running time, at the expense of lower fidelity in computing the nearest cluster center to each point. We provide both theoretical and empirical justification that our modified approach produces clusterings that are very similar to those produced by the standard ISODATA approach. We also provide empirical studies on both synthetic data and remotely sensed Landsat and MODIS images that show that our approach has significantly lower running times.

Memarsadeghi, Nargess↗
NASA NTRS1981

An algorithm for spatial heirarchy clustering

A method for utilizing both spectral and spatial redundancy in compacting and preclassifying images is presented. In multispectral satellite images, a high correlation exists between neighboring image points which tend to occupy dense and restricted regions of the feature space. The image is divided into windows of the same size where the clustering is made. The classes obtained in several neighboring windows are clustered, and then again successively clustered until only one region corresponding to the whole image is obtained. By employing this algorithm only a few points are considered in each clustering, thus reducing computational effort. The method is illustrated as applied to LANDSAT images.

Dejesusparada, N.↗
NASA NTRS2009

Processing Images of Craters for Spacecraft Navigation

A crater-detection algorithm has been conceived to enable automation of what, heretofore, have been manual processes for utilizing images of craters on a celestial body as landmarks for navigating a spacecraft flying near or landing on that body. The images are acquired by an electronic camera aboard the spacecraft, then digitized, then processed by the algorithm, which consists mainly of the following steps: 1. Edges in an image detected and placed in a database. 2. Crater rim edges are selected from the edge database. 3. Edges that belong to the same crater are grouped together. 4. An ellipse is fitted to each group of crater edges. 5. Ellipses are refined directly in the image domain to reduce errors introduced in the detection of edges and fitting of ellipses. 6. The quality of each detected crater is evaluated. It is planned to utilize this algorithm as the basis of a computer program for automated, real-time, onboard processing of crater-image data. Experimental studies have led to the conclusion that this algorithm is capable of a detection rate >93 percent, a false-alarm rate <5 percent, a geometric error <0.5 pixel, and a position error <0.3 pixel.

Cheng, Yang↗
NASA NTRS2010

Image Segmentation Analysis for NASA Earth Science Applications

NASA collects large volumes of imagery data from satellite-based Earth remote sensing sensors. Nearly all of the computerized image analysis of this data is performed pixel-by-pixel, in which an algorithm is applied directly to individual image pixels. While this analysis approach is satisfactory in many cases, it is usually not fully effective in extracting the full information content from the high spatial resolution image data that s now becoming increasingly available from these sensors. The field of object-based image analysis (OBIA) has arisen in recent years to address the need to move beyond pixel-based analysis. The Recursive Hierarchical Segmentation (RHSEG) software developed by the author is being used to facilitate moving from pixel-based image analysis to OBIA. The key unique aspect of RHSEG is that it tightly intertwines region growing segmentation, which produces spatially connected region objects, with region object classification, which groups sets of region objects together into region classes. No other practical, operational image segmentation approach has this tight integration of region growing object finding with region classification This integration is made possible by the recursive, divide-and-conquer implementation utilized by RHSEG, in which the input image data is recursively subdivided until the image data sections are small enough to successfully mitigat the combinatorial explosion caused by the need to compute the dissimilarity between each pair of image pixels. RHSEG's tight integration of region growing object finding and region classification is what enables the high spatial fidelity of the image segmentations produced by RHSEG. This presentation will provide an overview of the RHSEG algorithm and describe how it is currently being used to support OBIA or Earth Science applications such as snow/ice mapping and finding archaeological sites from remotely sensed data.

Tilton, James C.↗
NASA NTRS1993

A robust line extraction and matching algorithm

This paper presents an algorithm for extracting straight lines from intensity mages and describes a line matching algorithm for solving the line correspondence problem. The line extraction process begins by detecting edges in the intensity image. Next, line support regions are formed where image points (pixels) have similar gradient orientation. A line fitting algorithm is then used to fit a line to the points in the line support region based on a least means square fitting algorithm. Finally, line segments are linked together to form the final lines by using an adaptive line linking method; this results in much stronger lines and a smaller set of lines to be considered. Once the lines are detected in a sequence of images, a line matching algorithm is used to match lines in one image to the lines in the other image. The images are either from a motion or stereo sequence. The matched lines may then be used with the sensor position and orientation data to estimate range to objects corresponding to the lines. We present results based on applying the line extraction and line matching algorithms to a synthetic image and an outdoor scene captured by a camera on a helicopter.

Hussien, B.↗
NASA NTRS1996

Covisualization by computational optical-sectioning microscopy of integrin and associated proteins at the cell membrane of living onion protoplasts

Using higher-resolution wide-field computational optical-sectioning fluorescence microscopy, the distribution of antigens recognized by antibodies against animal beta 1 integrin, fibronectin, and vitronectin has been visualized at the outer surface of enzymatically protoplasted onion epidermis cells and in depectinated cell wall fragments. On the protoplast all three antigens are colocalized in an array of small spots, as seen in raw images, in Gaussian filtered images, and in images restored by two different algorithms. Fibronectin and vitronectin but not beta 1 integrin antigenicities colocalize as puncta in comparably prepared and processed images of the wall fragments. Several control visualizations suggest considerable specifity of antibody recognition. Affinity purification of onion cell extract with the same anti-integrin used for visualization has yielded protein that separates in SDS-PAGE into two bands of about 105-110 and 115-125 kDa. These bands are again recognized by the visualization antibody, which was raised against the extracellular domain of chicken beta 1 integrin, and are also recognized by an antibody against the intracellular domain of chicken beta 1 integrin. Because beta 1 integrin is a key protein in numerous animal adhesion sites, it appears that the punctate distribution of this protein in the cell membranes of onion epidermis represents the adhesion sites long known to occur in cells of this tissue. Because vitronectin and fibronection are matrix proteins that bind to integrin in animals, the punctate occurrence of antigenically similar proteins both in the wall (matrix) and on enzymatically prepared protoplasts reinforces the concept that onion cells have adhesion sites with some similarity to certain kinds of adhesion sites in animals.

NASA Discipline Plant Biology↗
NASA NTRS2006

Detection of Water Hazards for Autonomous Robotic Vehicles

Four methods of detection of bodies of water are under development as means to enable autonomous robotic ground vehicles to avoid water hazards when traversing off-road terrain. The methods involve processing of digitized outputs of optoelectronic sensors aboard the vehicles. It is planned to implement these methods in hardware and software that would operate in conjunction with the hardware and software for navigation and for avoidance of solid terrain obstacles and hazards. The first method, intended for use during the day, is based on the observation that, under most off-road conditions, reflections of sky from water are easily discriminated from the adjacent terrain by their color and brightness, regardless of the weather and of the state of surface waves on the water. Accordingly, this method involves collection of color imagery by a video camera and processing of the image data by an algorithm that classifies each pixel as soil, water, or vegetation according to its color and brightness values (see figure). Among the issues that arise is the fact that in the presence of reflections of objects on the opposite shore, it is difficult to distinguish water by color and brightness alone. Another issue is that once a body of water has been identified by means of color and brightness, its boundary must be mapped for use in navigation. Techniques for addressing these issues are under investigation. The second method, which is not limited by time of day, is based on the observation that ladar returns from bodies of water are usually too weak to be detected. In this method, ladar scans of the terrain are analyzed for returns and the absence thereof. In appropriate regions, the presence of water can be inferred from the absence of returns. Under some conditions in which reflections from the bottom are detectable, ladar returns could, in principle, be used to determine depth. The third method involves the recognition of bodies of water as dark areas in short-wavelength infrared (SWIR) images. This method is based on the fact, well known among experts in remote sensing, that water bodies of any appreciable depth appear very dark in near-infrared, overhead imagery. Even under a thick layer of marine fog, SWIR illumination is present. Hence, this method may work even in the presence of clouds, though it is unlikely to work at night. Snow and ice also exhibit very strong absorption at wavelengths greater than about 1.4 m. Hence, the wavelength range of about 1.5 to 1.6 m might be useable in this method for recognizing water, snow, and ice. One notable drawback of this method is that useful look-ahead distance could be limited by surface reflections. The fourth method, intended for use at night, involves the contrast between water and terrain in thermal-infrared (medium-wavelength infrared) imagery. This method is based on the fact that at night, water is usually warmer than the adjacent terrain. Look-ahead distance could be limited in this method because, for reasons not yet fully understood, water appears to darken in the thermal infrared with increasing distance.

Matthes, Larry↗
NASA NTRS1999

Vertical Profiles of Latent Heat Release and Their Retrieval for TOGA COARE Convective Systems Using a Cloud Resolving Model, SSM/I, and Ship-borne Radar Data

Latent heating profiles associated with three (TOGA COARE) Tropical Ocean and Global Atmosphere Coupled Ocean Atmosphere Response Experiment active convective episodes (December 10-17 1992; December 19-27 1992; and February 9-13 1993) are examined using the Goddard Cumulus Ensemble (GCE) Model and retrieved by using the Goddard Convective and Stratiform Heating (CSH) algorithm . The following sources of rainfall information are input into the CSH algorithm: Special Sensor Microwave Imager (SSM/1), Radar and the GCE model. Diagnostically determined latent heating profiles calculated using 6 hourly soundings are used for validation. The GCE model simulated rainfall and latent heating profiles are in excellent agreement with those estimated by soundings. In addition, the typical convective and stratiform heating structures (or shapes) are well captured by the GCE model. Radar measured rainfall is smaller than that both estimated by the GCE model and SSM/I in all three different COARE IFA periods. SSM/I derived rainfall is more than the GCE model simulated for the December 19-27 and February 9-13 periods, but is in excellent agreement with the GCE model for the December 10-17 period. The GCE model estimated stratiform amount is about 50% for December 19-27, 42% for December 11-17 and 56% for the February 9-13 case. These results are consistent with large-scale analyses. The accurate estimates of stratiform amount is needed for good latent heating retrieval. A higher (lower) percentage of stratiform rain can imply a maximum heating rate at a higher (lower) altitude. The GCE model always simulates more stratiform rain (10 to 20%) than the radar for all three convective episodes. SSM/I derived stratiform amount is about 37% for December 19-27, 48% for December 11-17 and 41% for the February 9-13 case. Temporal variability of CSH algorithm retrieved latent heating profiles using either GCE model simulated or radar estimated rainfall and stratiform amount is in good agreement with that diagnostically determined for all three periods. However, less rainfall and a smaller stratiform percentage estimated by radar resulted in a weaker (underestimated) latent heating profile and a lower maximum latent heating level compared to those determined diagnostically. Rainfall information from SSM/I can not retrieve individual convective events due to poor temporal sampling. Nevertheless, this study suggests that a good 4r, rainfall retrieval from SSM/I for a convective event always leads to a good latent heating retrieval. Sensitivity testing has been performed and the results indicate that the SSM/I derived time averaged stratiform amount may be underestimated for December 19-27. Time averaged heating profiles derived from SSM/I, however, are not in bad agreement with those derived by soundings for the December 10-17 convective period. The heating retrievals may be more accurate for longer time scales provided there is no bias in the sampling.

Tao, Wei-Kuo↗
NASA NTRS1989

Implementation of an algorithm for cylindrical object identification using range data

One of the problems in 3-D object identification and localization is addressed. In robotic and navigation applications the vision system must be able to distinguish cylindrical or spherical objects as well as those of other geometric shapes. An algorithm was developed to identify cylindrical objects in an image when range data is used. The algorithm incorporates the Hough transform for line detection using edge points which emerge from a Sobel mask. Slices of the data are examined to locate arcs of circles using the normal equations of an over-determined linear system. Current efforts are devoted to testing the computer implementation of the algorithm. Refinements are expected to continue in order to accommodate cylinders in various positions. A technique is sought which is robust in the presence of noise and partial occlusions.

Bozeman, Sylvia T.↗
NASA NTRS1996

Visualizing Vector Fields Using Line Integral Convolution and Dye Advection

We present local and global techniques to visualize three-dimensional vector field data. Using the Line Integral Convolution (LIC) method to image the global vector field, our new algorithm allows the user to introduce colored 'dye' into the vector field to highlight local flow features. A fast algorithm is proposed that quickly recomputes the dyed LIC images. In addition, we introduce volume rendering methods that can map the LIC texture on any contour surface and/or translucent region defined by additional scalar quantities, and can follow the advection of colored dye throughout the volume.

Shen, Han-Wei↗
NASA NTRS2008

Onboard Image Registration from Invariant Features

This paper describes a feature-based image registration technique that is potentially well-suited for onboard deployment. The overall goal is to provide a fast, robust method for dynamically combining observations from multiple platforms into sensors webs that respond quickly to short-lived events and provide rich observations of objects that evolve in space and time. The approach, which has enjoyed considerable success in mainstream computer vision applications, uses invariant SIFT descriptors extracted at image interest points together with the RANSAC algorithm to robustly estimate transformation parameters that relate one image to another. Experimental results for two satellite image registration tasks are presented: (1) automatic registration of images from the MODIS instrument on Terra to the MODIS instrument on Aqua and (2) automatic stabilization of a multi-day sequence of GOES-West images collected during the October 2007 Southern California wildfires.

descriptors↗
NASA NTRS1981

Digital SAR processing using a fast polynomial transform

A new digital processing algorithm based on the fast polynomial transform is developed for producing images from Synthetic Aperture Radar data. This algorithm enables the computation of the two dimensional cyclic correlation of the raw echo data with the impulse response of a point target, thereby reducing distortions inherent in one dimensional transforms. This SAR processing technique was evaluated on a general-purpose computer and an actual Seasat SAR image was produced. However, regular production runs will require a dedicated facility. It is expected that such a new SAR processing algorithm could provide the basis for a real-time SAR correlator implementation in the Deep Space Network.

Butman, S.↗