Uniform, variable light sources for instrument calibration.
Light sources with uniform variable luminance field designed for calibrating cameras used in space exploration
Rennilson, J. J.↗
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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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A system for extracting 3-dimensional measurements from a stereo pair of TV cameras
Obtaining accurate three-dimensional (3-D) measurement from a stereo pair of TV cameras is a task requiring camera modeling, calibration, and the matching of the two images of a real 3-D point on the two TV pictures. A system which models and calibrates the cameras and pairs the two images of a real-world point in the two pictures, either manually or automatically, was implemented. This system is operating and provides three-dimensional measurements resolution of + or - mm at distances of about 2 m.
Yakimovsky, Y.↗
A system for extracting three-dimensional measurements from a stereo pair of TV cameras
Obtaining accurate three-dimensional (3-D) measurement from a stereo pair of TV cameras is a task requiring camera modeling, calibration, and the matching of the two images of a real 3-D point on the two TV pictures. A system that models and calibrates the cameras and pairs the two images of a real-world point in the two pictures, either manually or automatically, was implemented at JPL. This system is operating and provides three-dimensional measurement resolution of plus or minus 5 mm at distances of about 2 m.
Yakimovsky, Y.↗
Development of robots and application to industrial processes
An algorithm is presented for using a robot system with a single camera to position in three-dimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accomodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction.
Palm, W. J.↗
An automated computerized vision technique for determination of three-dimensional object geometry
It is very important to determine three dimensional geometry of objects quickly in various military, space, construction, and industrial applications. An automatic scheme to obtain three dimensional geometry of objects by employing only one camera is presented. At present, this technique is applicable to a limited category of objects, satisfying the following constraints: they are flat-surfaces, and all the vertex points have to be recognized as corner points of the two dimensional image. The scheme consists of corner detection, data communication, camera calibration techniques and point searching and matching, edge cancelation, and creation procedures. An L shaped model is chosen as a test object. Experimental results demonstrated the reconstruction of this object geometry within 5 mm discrepancy. This scheme is quite convenient, efficient to use and can be applied to a wide range of problems in the real world.
Chiang, Pen-Tai↗
A space servicing telerobotics technology demonstration
Supervised telerobotic controls provide the key to successful remote servicing, as demonstrated in the telerobot testbed of the jet propulsion laboratory. Such advanced techniques and systems are specially applicable to ground-remote operations for servicing tasks, which are to be performed remotely in space and to be operated under human supervision from the ground. Laboratory demonstrations have successfully proven the utility of such techniques and systems. Instrumental to the success of supervised robotic operations are the techniques called object designate and relative target. In addition, a technique called universal camera calibration was also applied in the telerobot testbed. Generalized compliant control techniques were used in the robotic removal and insertion operations. These techniques were proven successful in task situations where preprogrammed automation cannot be adequately exercised due to errors, changes, or omission in the worksite data base.
Kan, Edwin P.↗
The phantom robot - Predictive displays for teleoperation with time delay
An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.
Bejczy, Antal K.↗
A rotorcraft flight database for validation of vision-based ranging algorithms
A helicopter flight test experiment was conducted at the NASA Ames Research Center to obtain a database consisting of video imagery and accurate measurements of camera motion, camera calibration parameters, and true range information. The database was developed to allow verification of monocular passive range estimation algorithms for use in the autonomous navigation of rotorcraft during low altitude flight. The helicopter flight experiment is briefly described. Four data sets representative of the different helicopter maneuvers and the visual scenery encountered during the flight test are presented. These data sets will be made available to researchers in the computer vision community.
Smith, Phillip N.↗
Fuzzy set methods for object recognition in space applications
Progress on the following tasks is reported: feature calculation; membership calculation; clustering methods (including initial experiments on pose estimation); and acquisition of images (including camera calibration information for digitization of model). The report consists of 'stand alone' sections, describing the activities in each task. We would like to highlight the fact that during this quarter, we believe that we have made a major breakthrough in the area of fuzzy clustering. We have discovered a method to remove the probabilistic constraints that the sum of the memberships across all classes must add up to 1 (as in the fuzzy c-means). A paper, describing this approach, is included.
Keller, James M.↗
Stereo imaging velocimetry for microgravity applications
Stereo imaging velocimetry is the quantitative measurement of three-dimensional flow fields using two sensors recording data from different vantage points. The system described in this paper, under development at NASA Lewis Research Center in Cleveland, Ohio, uses two CCD cameras placed perpendicular to one another, laser disk recorders, an image processing substation, and a 586-based computer to record data at standard NTSC video rates (30 Hertz) and reduce it offline. The flow itself is marked with seed particles, hence the fluid must be transparent. The velocimeter tracks the motion of the particles, and from these we deduce a multipoint (500 or more), quantitative map of the flow. Conceptually, the software portion of the velocimeter can be divided into distinct modules. These modules are: camera calibration, particle finding (image segmentation) and centroid location, particle overlap decomposition, particle tracking, and stereo matching. We discuss our approach to each module, and give our currently achieved speed and accuracy for each where available.
Miller, Brian B.↗
Advanced Film Cooling Rig: Development and Test Results
The Advanced Film Cooling Rig (AFCR) test was a program to develop a thermal imaging camera system to measure the effectiveness of multihole film cooling. This system was used to evaluate low-thermal conductivity ceramic test panels incorporating a wide range of multihole cooling geometries. Tests were conducted with a mainstream flow of 600 F at Mach numbers of 0.37 and 1.57. Coolant flow was controlled to give a blowing parameter variation of up to 2.9. Data reduction techniques are given for camera calibration, rig temperature reflection correction, and deriving surface temperatures from video images. Results are presented in terms of overall and film cooling effectiveness distributions. A one-dimensional analysis of a unit film cooling hole was performed to generate film temperature.
Reilly, R. S.↗
Sonoluminescence Bubble Measurements using Vision-Based Algorithms
Vision-based measurement methods were used to measure bubble sizes in this sonoluminescence experiment. Bubble imaging was accomplished by placing the bubble between a bright light source and a microscope-CCD camera system. A collimated light-emitting diode was operated in a pulsed model with an adjustable time delay with respect to the piezo-electric transducer drive signal. The light-emitting diode produced a bubble shadowgraph consisting of a multiple exposure made by numerous light pulses imaged onto a charge-couple device camera. Each image was transferred from the camera to a computer-controlled machine vision system via a frame grabber. The frame grabber was equipped with on-board memory to accomodate sequential image buffering while images were transferred to the host processor and analyzed. This configuration allowed the host computer to perform diameter measurements, centroid position measurements and shape estimation in "real-time" as the next image was being acquired. Bubble size measurement accuracy with an uncertainty of 3 microns was achieved using standard lenses and machine vision algorithms. Bubble centroid position accuracy was also within the 3 micron tolerance of the vision system. This uncertainty estimation accounted for the optical spatial resolution, digitization errors and the edge detection algorithm accuracy. The vision algorithms include camera calibration, thresholding, edge detection, edge position determination, distance between two edges computations and centroid position computations.
Hall, Nancy R.↗
Videogrammetric Model Deformation Measurement Technique
The theory, methods, and applications of the videogrammetric model deformation (VMD) measurement technique used at NASA for wind tunnel testing are presented. The VMD technique, based on non-topographic photogrammetry, can determine static and dynamic aeroelastic deformation and attitude of a wind-tunnel model. Hardware of the system includes a video-rate CCD camera, a computer with an image acquisition frame grabber board, illumination lights, and retroreflective or painted targets on a wind tunnel model. Custom software includes routines for image acquisition, target-tracking/identification, target centroid calculation, camera calibration, and deformation calculations. Applications of the VMD technique at five large NASA wind tunnels are discussed.
Burner, A. W.↗
Stereo Imaging Velocimetry Technique Using Standard Off-the-Shelf CCD Cameras
Stereo imaging velocimetry is a fluid physics technique for measuring three-dimensional (3D) velocities at a plurality of points. This technique provides full-field 3D analysis of any optically clear fluid or gas experiment seeded with tracer particles. Unlike current 3D particle imaging velocimetry systems that rely primarily on laser-based systems, stereo imaging velocimetry uses standard off-the-shelf charge-coupled device (CCD) cameras to provide accurate and reproducible 3D velocity profiles for experiments that require 3D analysis. Using two cameras aligned orthogonally, we present a closed mathematical solution resulting in an accurate 3D approximation of the observation volume. The stereo imaging velocimetry technique is divided into four phases: 3D camera calibration, particle overlap decomposition, particle tracking, and stereo matching. Each phase is explained in detail. In addition to being utilized for space shuttle experiments, stereo imaging velocimetry has been applied to the fields of fluid physics, bioscience, and colloidal microscopy.
McDowell, Mark↗
General-Purpose Stereo Imaging Velocimetry Technique Developed for Space and Industrial Applications
A new three-dimensional, full-field analysis technique has been developed for industrial and space applications. Stereo Imaging Velocimetry (SIV) will provide full-field analysis for three-dimensional flow data from any optically transparent fluid that can be seeded with tracer particles. The goal of SIV is to provide a means to measure three-dimensional fluid velocities quantitatively and qualitatively at many points. SIV is applicable to any optically transparent fluid experiment. Except for the tracer particles, this measurement technique is nonintrusive. Velocity accuracies are on the order of 95 to 99 percent of fullfield. The system components of SIV include camera calibration, centroid determination, overlap decomposition, particle tracking, stereo matching, and three-dimensional velocity analysis. SIV has been used successfully for space shuttle experiments as well as for fluid flow applications for business and industry.
McDowell, Mark↗
Camera Image Transformation and Registration for Safe Spacecraft Landing and Hazard Avoidance
Inherent geographical hazards of Martian terrain may impede a safe landing for science exploration spacecraft. Surface visualization software for hazard detection and avoidance may accordingly be applied in vehicles such as the Mars Exploration Rover (MER) to induce an autonomous and intelligent descent upon entering the planetary atmosphere. The focus of this project is to develop an image transformation algorithm for coordinate system matching between consecutive frames of terrain imagery taken throughout descent. The methodology involves integrating computer vision and graphics techniques, including affine transformation and projective geometry of an object, with the intrinsic parameters governing spacecraft dynamic motion and camera calibration.
Jones, Brandon M.↗
Computer Vision Assisted Virtual Reality Calibration
A computer vision assisted semi-automatic virtual reality (VR) calibration technology has been developed that can accurately match a virtual environment of graphically simulated three-dimensional (3-D) models to the video images of the real task environment.
Computer Vision Virtual Reality Calibration camera↗
Robot Vision Library
The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses
Howard, Andrew B.↗