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NASA NTRS1984

Stereo Electro-optical Tracking System (SETS)

The SETS is a remote, non-contacting, high-accuracy tracking system for the measurement of deflection of models in the National Transonic Facility at Langley Research Center. The system consists of four electronically scanned image dissector trackers which locate the position of Light Emitting Diodes embedded in the wing or body of aircraft models. Target location data is recorded on magnetic tape for later 3-D processing. Up to 63 targets per model may be tracked at typical rates of 1280 targets per second and to precision of 0.02mm at the target under the cold (-193 C) environment of the NTF tunnel.

Koenig, E. W.↗

NASA NTRS1985

Multisensor Data Integration Techniques

The availability of data from sensors operating in several different wavelength regions had led to the development of new techniques and strategies for both data management and image analysis. Work is ongoing to develop computer techniques for analysis of integrated data sets. These techniques include coregistration of multisensor images, rectification of radar images in areas of topographic relief to ensure pixel to pixel registration with planimetric data sets, calibration of data so that signatures can be applied to remote areas, normalization of data acquired with disparate sensors and determination of extended spectral signatures of surface units. In addition, software is being developed to analyze coregistrated digital terrain and image data so that automated stratigraphic and structural analyses can be performed. These software procedures include: strike and dip determination, terrain profile generation, stratigraphic column generation, stratigraphic thickness measurements, structural cross-section generation, and creation of 3-D block diagrams. These techniques were applied to coregistered LANDSAT 4 Thematic Mapper (TM), Thermal Infrared Multispectral Scanner (TIMS), and multipolarization synthetic aperture radar (SAR) data of the Wind River Basin in Wyoming.

Evans, D. L.↗

NASA NTRS1989

RenderMan design principles

The two worlds of interactive graphics and realistic graphics have remained separate. Fast graphics hardware runs simple algorithms and generates simple looking images. Photorealistic image synthesis software runs slowly on large expensive computers. The time has come for these two branches of computer graphics to merge. The speed and expense of graphics hardware is no longer the barrier to the wide acceptance of photorealism. There is every reason to believe that high quality image synthesis will become a standard capability of every graphics machine, from superworkstation to personal computer. The significant barrier has been the lack of a common language, an agreed-upon set of terms and conditions, for 3-D modeling systems to talk to 3-D rendering systems for computing an accurate rendition of that scene. Pixar has introduced RenderMan to serve as that common language. RenderMan, specifically the extensibility it offers in shading calculations, is discussed.

Apodaca, Tony↗

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 NTRS1989

A fast 3-D object recognition algorithm for the vision system of a special-purpose dexterous manipulator

A fast 3-D object recognition algorithm that can be used as a quick-look subsystem to the vision system for the Special-Purpose Dexterous Manipulator (SPDM) is described. Global features that can be easily computed from range data are used to characterize the images of a viewer-centered model of an object. This algorithm will speed up the processing by eliminating the low level processing whenever possible. It may identify the object, reject a set of bad data in the early stage, or create a better environment for a more powerful algorithm to carry the work further.

Hung, Stephen H. Y.↗

NASA NTRS1988

Improved docking alignment system

Improved techniques are provided for the alignment of two objects. The present invention is particularly suited for 3-D translation and 3-D rotational alignment of objects in outer space. A camera is affixed to one object, such as a remote manipulator arm of the spacecraft, while the planar reflective surface is affixed to the other object, such as a grapple fixture. A monitor displays in real-time images from the camera such that the monitor displays both the reflected image of the camera and visible marking on the planar reflective surface when the objects are in proper alignment. The monitor may thus be viewed by the operator and the arm manipulated so that the reflective surface is perpendicular to the optical axis of the camera, the roll of the reflective surface is at a selected angle with respect to the camera, and the camera is spaced a pre-selected distance from the reflective surface.

Monford, Leo G.↗

NASA NTRS1988

Head-mounted spatial instruments: Synthetic reality or impossible dream

A spatial instrument is defined as a display device which has been either geometrically or symbolically enhanced to better enable a user to accomplish a particular task. Research conducted over the past several years on 3-D spatial instruments has shown that perspective displays, even when viewed from the correct viewpoint, are subject to systematic viewer biases. These biases interfere with correct spatial judgements of the presented pictorial information. It is also found that deliberate, appropriate geometric distortion of the perspective projection of an image can improve user performance. These two findings raise intriguing questions concerning the design of head-mounted spatial instruments. The design of such instruments may not only require the introduction of compensatory distortions to remove the neutrally occurring biases but also may significantly benefit from the introduction of artificial distortions which enhance performance. These image manipulations, however, can cause a loss of visual-vestibular coordination and induce motion sickness. Additionally, adaptation to these manipulations is apt to be impaired by computational delays in the image display. Consequently, the design of head-mounted spatial instruments will require an understanding of the tolerable limits of visual-vestibular discord.

Ellis, Stephen R.↗

NASA NTRS1987

SHAPES - Spatial, High-Accuracy, Position-Encoding Sensor for multi-point, 3-D position measurement of large flexible structures

An electro-optical position sensor for precise simultaneous measurement of the 3-D positions of multiple points on large space structures is described. The sensor data rate is sufficient for most control purposes. Range is determined by time-of-flight correlation of short laser pulses returned from retroreflector targets using a streak tube/CCD detector. Angular position is determined from target image locations on a second CCD. Experimental verification of dynamic ranging to multiple targets is discussed.

Nerheim, N. M↗

NASA NTRS1983

Digital image processing of flow visualization photographs

This paper is concerned with the propagation of laser light through a slab of a randomly varying medium. A theoretical analysis is presented which relates the spectrum of the recorded-intensity field some distance downstream of the medium to the spectrum of the index-of-refraction field. For a homogeneous and isotropic random field, the 3-D spectrum of the medium is obtained from the 2-D spectrum of the photograph by dividing each component of the spectrum by the frequency raised to the fourth power. Free-space propagation outside the random medium is accounted for by a scaling factor. Experimental results are presented which support the theoretical analysis. The nonintrusive diagnostic technique presented here is applicable to photographs which contain partially developed caustic networks.

Hesselink, L.↗

NASA NTRS1991

A near-real-time full-parallax holographic display for remote operations

A near real-time, full parallax holographic display system was developed that has the potential to provide a 3-D display for remote handling operations in hazardous environments. The major components of the system consist of a stack of three spatial light modulators which serves as the object source of the hologram; a near real-time holographic recording material (such as thermoplastic and photopolymer); and an optical system for relaying SLM images to the holographic recording material and to the observer for viewing.

Iavecchia, Helene P.↗

NASA NTRS1989

Head-mounted spatial instruments II: Synthetic reality or impossible dream

A spatial instrument is defined as a spatial display which has been either geometrically or symbolically enhanced to enable a user to accomplish a particular task. Research conducted over the past several years on 3-D spatial instruments has shown that perspective displays, even when viewed from the correct viewpoint, are subject to systematic viewer biases. These biases interfere with correct spatial judgements of the presented pictorial information. The design of spatial instruments may not only require the introduction of compensatory distortions to remove the naturally occurring biases but also may significantly benefit from the introduction of artificial distortions which enhance performance. However, these image manipulations can cause a loss of visual-vestibular coordination and induce motion sickness. Consequently, the design of head-mounted spatial instruments will require an understanding of the tolerable limits of visual-vestibular discord.

Ellis, Stephen R.↗

NASA NTRS1991

NACA 0015 wing pressure and trailing vortex measurements

A NACA 0015 semispan wing was placed in a low-speed wind tunnel, and measurements were made of the pressure on the upper and lower surface of the wing and of velocity across the vortex trailing downstream from the tip of the wing. Pressure data were obtained for both 2-D and 3-D configurations. These data feature a detailed comparison between wing tips with square and round lateral edges. A two-component laser velocimeter was used to measure velocity profiles across the vortex at numerous stations behind the wing and for various combinations of conditions. These conditions include three aspect ratios, three chord lengths, a square- and a round lateral-tip, presence or absence of a boundary-layer trip, and three image plane positions located opposite the wing tip. Both pressure and velocity measurements were made for the angles of attack 4 deg less than or equal to alpha less than or equal to 12 deg and for Reynolds numbers 1 x 10(exp 6) less than or equal to Re less than or equal to 3 x 10(exp 6).

Mcalister, K. W.↗

NASA NTRS1991

Format and basic geometry of a perspective display of air traffic for the cockpit

The design and implementation of a perspective display of air traffic for the cockpit is discussed. Parameters of the perspective are variable and interactive so that the appearance of the projected image can be widely varied. This approach makes allowances for exploration of perspective parameters and their interactions. The display was initially used to study the cases of horizontal maneuver biases found in experiments involving a plan view air traffic display format. Experiments to determine the effect of perspective geometry on spatial judgements have evolved from the display program. Several scaling techniques and other adjustments to the perspective are used to tailor the geometry for effective presentation of 3-D traffic situations.

Mcgreevy, Michael Wallace↗

NASA NTRS1988

Doppler imaging of AR Lacertae at three epochs

Observations from IUE were used to study the structure of the lower chromosphere of AR Lacertae in the light of Mg II k. Sequences of LWR/P-HI images distributed around the binary period at three epochs were obtained. Discrete plage-like regions of enhanced Mg II surface flux in this system are identified. There are temporal variations in the Mg II flux on timescales of hours as well as substantial changes in chromospheric morphology on timescales of years. Even with the limited S/N attainable with the IUE, one can map the gross structures of active stellar atmospheres. With such information, one can begin to study the true 3-D structure of the atmospheres of late-type stars.

Walter, Frederick M.↗

NASA NTRS1985

Digital fringe reduction techniques applied to the measurement of three-dimensional transonic flow fields

A system for digital inteferogram evaluation based on an image-processing system connected to a host computer has been implemented. The system supports one- and two-dimensional interferogram evaluations. Interferograms are digitized, enhanced, and segmented. The fringe coordinates are extracted, and the fringes are represented as polygon data structures. Fringe numbering and fringe interpolation modules are implemented. The system supports editing and interactive features as well as graphic visualization. An application of the system to the evaluation of double exposure interferograms from the transonic flow field around a helicopter blade and the reconstruction of the 3-D flow field are given.

Becker, F.↗

NASA NTRS1978

Photogrammetry of the solar aureole

This paper presents a photogrammetric analysis of the solar aureole for the purpose of making photographic sky radiance measurements for determining aerosol physical characteristics. A photograph is essentially a projection of a 3-D object space onto a 2-D image space. Photogrammetry deals with relations that exist between the object and the image spaces. The main problem of photogrammetry is the reconstruction of configurations in the object space by means of the image space data. It is shown that the almucantar projects onto the photographic plane as a conic section and the sun vertical as a straight line.

Deepak, A.↗

NASA NTRS1985

Contouring Trivariate Data

In many applications, the data consist of discrete 3-D points at which one or more parameters are given. To display contours, the data are represented by a continuous function which is evaluated at any point as needed for contouring. Contouring results are presented which are applicable both to artitrarily spaced data and to data which lie on a topologically rectangular three dimensional grid. the contours are assumed to be described by 3-D display lists for viewing on a dynamic color graphics device; that is, they will not simply be projected into 2-D and viewed as a static image on a frame buffer. Dynamic viewing of color contours may be essential to the proper interpretation of results. The gridded data lie on a topologically rectangular grid although two or more nodes may be the same point. Parametric tensor product methods may be used to fit the gridded data and to generate the contours. Rectangular elements are convenient but not necessary. For example, there are other methods which are effective for contouring over tetrahedral elements.

Stead, S. E.↗

NASA NTRS1989

Use of 3D vision for fine robot motion

An integration of 3-D vision systems with robot manipulators will allow robots to operate in a poorly structured environment by visually locating targets and obstacles. However, by using computer vision for objects acquisition makes the problem of overall system calibration even more difficult. Indeed, in a CAD based manipulation a control architecture has to find an accurate mapping between the 3-D Euclidean work space and a robot configuration space (joint angles). If a stereo vision is involved, then one needs to map a pair of 2-D video images directly into the robot configuration space. Neural Network approach aside, a common solution to this problem is to calibrate vision and manipulator independently, and then tie them via common mapping into the task space. In other words, both vision and robot refer to some common Absolute Euclidean Coordinate Frame via their individual mappings. This approach has two major difficulties. First a vision system has to be calibrated over the total work space. And second, the absolute frame, which is usually quite arbitrary, has to be the same with a high degree of precision for both robot and vision subsystem calibrations. The use of computer vision to allow robust fine motion manipulation in a poorly structured world which is currently in progress is described along with the preliminary results and encountered problems.

Lokshin, Anatole↗