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NASA NTRS2011

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5?m) or long-wave infrared (LWIR) radiation (8-12?m). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

terrain classification↗

NASA NTRS2022

Integrated Topographic Corrections Improve Forest Mapping Using Landsat Imagery

In mountainous environments, topography strongly affects the reflectance due to illumination effects and cast shadows, which introduce errors in land cover classifications. However, topographic correction is not routinely implemented in standard data pre-processing chains (e.g., Landsat Analysis Ready Data), and there is a lack of consensus whether topographic correction is necessary, and if so, how to conduct it. Furthermore, methods that correct simultaneously for atmospheric and topographic effects are becoming available, but they have not been compared directly. Our objects were to investigate (1) the effectiveness of two topographic correction approaches that integrate atmospheric and topographic correction, (2) improvements in classification accuracy when analyzing topographically corrected single-date imagery (14 July 2016 and 2 October 2016), versus a full Landsat time series from 2014 to 2016, and 3) improvements in classification accuracy when including additional terrain information (i.e., topographic slope, elevation, and aspect). We developed a physical based model and compared it with an enhanced C-correction, both of which integrate atmospheric and topographic correction. We compared classification accuracies with and without topographic correction using combinations of single-date imagery, image composites and spectral-temporal metrics generated from the full Landsat time series, and additional terrain information in the Caucasus Mountains. We found that both the enhanced C-correction and the physical model performed very well and largely eliminated the correlation (Pearson’s correlation coefficient r ranges from 0.06 to 0.24) between surface reflectance and illumination condition, but the physical model performed best (r ranges from 0.05 to 0.11). Both image composites, and spectral-temporal metrics generated from corrected imagery, resulted in significantly (p ≤ 0.05) higher classification accuracies and better forest classifications, especially for the mixed forests. Adding terrain information reduced classification error significantly, but not as much as topographic correction. In summary, topographic correction remains necessary, even when analyzing a full Landsat time series and including a digital elevation model in the classification. We recommend that topographic correction should be applied when analyzing Landsat satellite imagery in mountainous region for forest cover classification.

Atmospheric correction↗

NASA NTRS1979

California desert resource inventory using multispectral classification of digitally mosaicked Landsat frames

Procedures for adjustment of brightness values between frames and the digital mosaicking of Landsat frames to standard map projections are developed for providing a continuous data base for multispectral thematic classification. A combination of local terrain variations in the Californian deserts and a global sampling strategy based on transects provided the framework for accurate classification throughout the entire geographic region.

Bryant, N. A.↗

NASA NTRS1980

Progress in passive microwave remote sensing - Nonlinear retrieval techniques

A variety of nonlinear retrieval methods have been applied to passive microwave remote sensing problems. These problems can be characterized in part by the degree to which their underlying physics and statistics can be understood and characterized in a simple way. Four examples of varying complexity are considered here; the simplest problem requires only analytic expressions for retrievals, whereas the most complex problem has been handled only with pattern classification techniques. The four examples are: (1) Doppler measurements of winds at 70 to 100 km, (2) retrieval of atmospheric water vapor profiles using the opaque 183-GHz water vapor resonance, (3) retrieval of snow accumulation rate by means of combined theoretical and empirical procedures, and (4) classification of diverse polar terrain by means of pattern recognition techniques.

Staelin, D. H.↗

NASA NTRS1985

1985 International Geoscience and Remote Sensing Symposium (IGARSS '85), University of Massachusetts, Amherst, October 7-9, 1985, Digest. Volumes 1 & 2

The present conference on remote sensing instrumentation considers topics in water resources research, planetary remote sensing and mathematical geophysics, sea ice behavior in view of the Cold Regions Research and Engineering Laboratories pond measurements, Shuttle Imaging Radar-B (SIR-B) system performance and calibration results, geological applications of remote sensing, and microwave scattering from vegetation. Further attention is given to atmospheric probing with lasers, image processing for remote sensing, forest inventory and condition assessment, atmospheric remote sensing, SIR-B geological results, the reflectance, emission, and scattering characteristics of vegetation, sea ice sensing, multipolarization SAR results, the theoretical modeling of surfaces and volumes, crop condition assessment and productivity estimates, and SIR-B results for vegetation cover. Also considered are the microwave remote sensing of soil moisture, advanced sensors, advanced information extraction, wind and wave remote observations, results from the ESA Remote Sensing satellite, large area crop and land cover statistics, SIR-B results for directional ocean wave spectra, seasonal snow cover, ice sheets, and lake ice, fundamental research in terrain remote sensing, image classification methods, vegetation stress detection, remote sensing of coastal processes, SAR systems and calibration, electromagnetic geophysical methods and signal processing, image processing techniques, and SAR internal wave measurements.

Carver, K. R.↗

NASA NTRS2010

Satellite Sampling and Retrieval Errors in Regional Monthly Rain Estimates from TMI AMSR-E, SSM/I, AMSU-B and the TRMM PR

Passive and active microwave rain sensors onboard earth-orbiting satellites estimate monthly rainfall from the instantaneous rain statistics collected during satellite overpasses. It is well known that climate-scale rain estimates from meteorological satellites incur sampling errors resulting from the process of discrete temporal sampling and statistical averaging. Sampling and retrieval errors ultimately become entangled in the estimation of the mean monthly rain rate. The sampling component of the error budget effectively introduces statistical noise into climate-scale rain estimates that obscure the error component associated with the instantaneous rain retrieval. Estimating the accuracy of the retrievals on monthly scales therefore necessitates a decomposition of the total error budget into sampling and retrieval error quantities. This paper presents results from a statistical evaluation of the sampling and retrieval errors for five different space-borne rain sensors on board nine orbiting satellites. Using an error decomposition methodology developed by one of the authors, sampling and retrieval errors were estimated at 0.25 resolution within 150 km of ground-based weather radars located at Kwajalein, Marshall Islands and Melbourne, Florida. Error and bias statistics were calculated according to the land, ocean and coast classifications of the surface terrain mask developed for the Goddard Profiling (GPROF) rain algorithm. Variations in the comparative error statistics are attributed to various factors related to differences in the swath geometry of each rain sensor, the orbital and instrument characteristics of the satellite and the regional climatology. The most significant result from this study found that each of the satellites incurred negative longterm oceanic retrieval biases of 10 to 30%.

Fisher, Brad↗

NASA NTRS1994

VLSI neuroprocessors

Electronic and optoelectronic hardware implementations of highly parallel computing architectures address several ill-defined and/or computation-intensive problems not easily solved by conventional computing techniques. The concurrent processing architectures developed are derived from a variety of advanced computing paradigms including neural network models, fuzzy logic, and cellular automata. Hardware implementation technologies range from state-of-the-art digital/analog custom-VLSI to advanced optoelectronic devices such as computer-generated holograms and e-beam fabricated Dammann gratings. JPL's concurrent processing devices group has developed a broad technology base in hardware implementable parallel algorithms, low-power and high-speed VLSI designs and building block VLSI chips, leading to application-specific high-performance embeddable processors. Application areas include high throughput map-data classification using feedforward neural networks, terrain based tactical movement planner using cellular automata, resource optimization (weapon-target assignment) using a multidimensional feedback network with lateral inhibition, and classification of rocks using an inner-product scheme on thematic mapper data. In addition to addressing specific functional needs of DOD and NASA, the JPL-developed concurrent processing device technology is also being customized for a variety of commercial applications (in collaboration with industrial partners), and is being transferred to U.S. industries. This viewgraph p resentation focuses on two application-specific processors which solve the computation intensive tasks of resource allocation (weapon-target assignment) and terrain based tactical movement planning using two extremely different topologies. Resource allocation is implemented as an asynchronous analog competitive assignment architecture inspired by the Hopfield network. Hardware realization leads to a two to four order of magnitude speed-up over conventional techniques and enables multiple assignments, (many to many), not achievable with standard statistical approaches. Tactical movement planning (finding the best path from A to B) is accomplished with a digital two-dimensional concurrent processor array. By exploiting the natural parallel decomposition of the problem in silicon, a four order of magnitude speed-up over optimized software approaches has been demonstrated.

Kemeny, Sabrina E.↗

NASA NTRS2022

Multi-Mission Terrain Classifier for Safe Rover Navigation and Automated Science

We previously presented Soil Property and Object Classification (SPOC), a machine learning-based terrain classifier for Mars rovers, for automatically segmenting rover images by its surface type such as sand and bedrock. This paper presents a number of practical improvements to pave the way for potential future onboard deployment. First, we achieved 97.0% overall pixel accuracy, evaluated against the classification generated by human experts on images from Mars Science Laboratory (MSL) missions. The substantial increase in accuracy was primarily enabled by the sheer volume of data used for training; we created a new large-scale dataset of Martian terrain labels, namely AI4Mars, which contains more than 400k labels contributed by citizen scientists for 50k images taken by the Mars Exploration Rovers (MER) and Mars Science Laboratory (MSL) rover. Second, we demonstrated that SPOC can quickly adapt to a new mission landed on a previously unseen site. Specifically, we pretrained a model with MER and MSL data from the AI4Mars dataset and then adapted to the Mars 2020 Rover (M2020) by feeding a small volume of data between Sol 0 and 157; the adapted model was tested on Sol 200-203 and resulted in 84.2% overall pixel accuracy and 93.4% reliability (recall) for detecting sand, the most concerning class for rover’s traversability. Third, we found that pretraining can substantially mitigate the decline of accuracy over time. We showed that the performance of a SPOC model pretrained with the ImageNet dataset and then trained by MSL images only up to Sol 390 remains comparable to a model trained by images up to Sol 1689 on the test data after Sol 1689. Fourth, we reimplemented SPOC with a light-weight convolutional neural network (CNN), MobileNetV2, which typically runs within tens of milliseconds (ms) on mobile processors such as Qualcomm’s Snapdragon. Finally, we released the AI4Mars dataset to the public to encourage open innovation.

Ono, Masahiro↗

NASA NTRS1980

Analysis of Martian terrains using optical power spectra

Planetary geological studies are almost entirely based on the analysis of orbital imagery. In the case of Mars, optical power spectra are providing the photogeologist with an additional aid in his task of classification and characterization of diverse terrains. Statistical pattern recognition techniques using optical power spectral data may be especially valuable in subdividing terrain units with characteristics that are only subtly different and in correlation of isolated patches of similar materials that are widely separated on the planet's surface.

Wolfe, R. W.↗

NASA NTRS1984

Classification of vegetation communities in the Battle Mountain SE quadrangle, Nevada with MSS digital data

LANDSAT MSS digital data were utilized to identify vegetation types in an area of Battle Mountain SE in northern Nevada. Ways in which terrain data may improve spectral classification were investigated. The basic data set was a CCT of LANDSAT scene 82233617450, dated 15 June 1981. Seventeen ecotypic classifications were identified in the study area on the basis of field investigations. The percent cover by life form and non-living material for the 17 classes is summarized along with the percent cover by species for the 17 classes.

Ridd, M. K.↗

NASA NTRS1975

Computer implemented classification of vegetation using aircraft acquired multispectral scanner data

The use of aircraft 24-channel multispectral scanner data in conjunction with computer processing techniques to obtain an automated classification of plant species association was discussed. The classification of various plant species associations was related to information needed for specific applications. In addition, the necessity for multiple selection of training fields for a single class in situations where the study area consists of highly irregular terrain was detailed. A single classification was illuminated differently in different areas, resulting in the existence of multiple spectral signatures for a given class. These different signatures result since different qualities of radiation upwell to the detector from portions that have differing qualities of incident radiation. Techniques of training field selection were outlined, and a classification obtained from a natural area in Tishomingo State Park in northern Mississippi was presented.

Cibula, W. G.↗

NASA NTRS1975

Use of remote sensing in agriculture

The remote sensing studies of (a) cultivated peanut areas in Southeastern Virginia; (b) studies at the Virginia Truck and Ornamentals Research Station near Painter, Virginia, the Eastern Virginia Research Station near Warsaw, Virginia, the Tidewater Research and Continuing Education Center near Suffolk, Virginia, and the Southern Piedmont Research and Continuing Education Center Blackstone, Virginia; and (c) land use classification studies at Virginia Beach, Virginia are presented. The practical feasibility of using false color infrared imagery to detect and determine the areal extent of peanut disease infestation of Cylindrocladium black rot and Sclerotinia blight is demonstrated. These diseases pose a severe hazard to this major agricultural food commodity. The value of remote sensing technology in terrain analyses and land use classification of diverse land areas is also investigated. Continued refinement of spectral signatures of major agronomic crops and documentation of pertinent environmental variables have provided a data base for the generation of an agricultural-environmental prediction model.

Pettry, D. E.↗

NASA NTRS1982

Mapping of deciduous forest cover using simulated Landsat-D TM data

An evaluation is presented of the supervised vegetation classification images of heavily forested terrain in the eastern US produced from simulated Landsat-D Thematic Mapper data as part of the Joint NASA/Geosat Test Case study of the Lost River, West Virginia, gas field. This investigation utilized data supplied by the NS-001 aircraft multispectral scanner (15 m IFOV) of NASA. The instruments recognized a total of 9 vegetation classes and one soil class. A hybrid parallelepiped-Bayesian maximum likelihood classifier was employed to produce the supervised vegetation classifications. The data were obtained at the height of the fall foliage display for this portion of West Virginia. Results show that both classifications are highly accurate, based on a comparison of assignment of vegetation classes on each of the images with actual ground conditions. It is noted that the anomalous distribution of certain woody species found in the resulting supervised classifications may be related to the microseepage of methane from the gas reservoir.

Rock, B. N.↗

NASA NTRS1983

A simulation study of scene confusion factors in sensing soil moisture from orbital radar

Simulated C-band radar imagery for a 124-km by 108-km test site in eastern Kansas is used to classify soil moisture. Simulated radar resolutions are 100 m by 100 m, 1 km by 1km, and 3 km by 3 km. Distributions of actual near-surface soil moisture are established daily for a 23-day accounting period using a water budget model. Within the 23-day period, three orbital radar overpasses are simulated roughly corresponding to generally moist, wet, and dry soil moisture conditions. The radar simulations are performed by a target/sensor interaction model dependent upon a terrain model, land-use classification, and near-surface soil moisture distribution. The accuracy of soil-moisture classification is evaluated for each single-date radar observation and also for multi-date detection of relative soil moisture change. In general, the results for single-date moisture detection show that 70% to 90% of cropland can be correctly classified to within +/- 20% of the true percent of field capacity. For a given radar resolution, the expected classification accuracy is shown to be dependent upon both the general soil moisture condition and also the geographical distribution of land-use and topographic relief. An analysis of cropland, urban, pasture/rangeland, and woodland subregions within the test site indicates that multi-temporal detection of relative soil moisture change is least sensitive to classification error resulting from scene complexity and topographic effects.

Ulaby, F. T.↗

NASA NTRS1980

Landsat analysis of tropical forest succession employing a terrain model

Landsat multispectral scanner (MSS) data have yielded a dual classification of rain forest and shadow in an analysis of a semi-deciduous forest on Mindonoro Island, Philippines. Both a spatial terrain model, using a fifth side polynomial trend surface analysis for quantitatively estimating the general spatial variation in the data set, and a spectral terrain model, based on the MSS data, have been set up. A discriminant analysis, using both sets of data, has suggested that shadowing effects may be due primarily to local variations in the spectral regions and can therefore be compensated for through the decomposition of the spatial variation in both elevation and MSS data.

Barringer, T. H.↗

NASA NTRS1991

A method for classification of multisource data using interval-valued probabilities and its application to HIRIS data

A method of classifying multisource data in remote sensing is presented. The proposed method considers each data source as an information source providing a body of evidence, represents statistical evidence by interval-valued probabilities, and uses Dempster's rule to integrate information based on multiple data source. The method is applied to the problems of ground-cover classification of multispectral data combined with digital terrain data such as elevation, slope, and aspect. Then this method is applied to simulated 201-band High Resolution Imaging Spectrometer (HIRIS) data by dividing the dimensionally huge data source into smaller and more manageable pieces based on the global statistical correlation information. It produces higher classification accuracy than the Maximum Likelihood (ML) classification method when the Hughes phenomenon is apparent.

Kim, H.↗

NASA NTRS1990

A method for classification of multisource data using interval-valued probabilities and its application to HIRIS data

A method of classifying multisource data in remote sensing is presented. The proposed method considers each data source as an information source providing a body of evidence, represents statistical evidence by interval-valued probabilities, and uses Dempster's rule to integrate information based on multiple data sources. The method is applied to the problems of ground-cover classification of multispectral data combined with digital terrain data such as elevation, slope, and aspect. Then this method is applied to simulated 201-band High Resolution Imaging Spectrometer (HIRIS) data by dividing the dimensionally huge data source into smaller and more manageable pieces based on the global statistical correlation information. It produces higher classification accuracy than the Maximum Likelihood (ML) classification method when the Hughes phenomenon is apparent.

Kim, H.↗

NASA NTRS1989

Image-based terrain modeling with thematic mapper applied to resolving the limit of Holocene Lake expansion in the Great Salt Lake Desert, Utah, part 1

The LANDSAT Thematic Mapper (TM) scanner records reflected solar energy from the earth's surface in six wavelength regions, or bands, and one band that records emitted energy in the thermal region, giving a total of seven bands. Useful research was extracted about terrain morphometry from remote sensing measurements and this information is used in an image-based terrain model for selected coastal geomorphic features in the Great Salt Lake Desert (GSLD). Technical developments include the incorporation of Aerial Profiling of Terrain System (APTS) data in satellite image analysis, and the production and use of 3-D surface plots of TM reflectance data. Also included in the technical developments is the analysis of the ground control point spatial distribution and its affects on geometric correction, and the terrain mapping procedure; using satellite data in a way that eliminates the need to degrade the data by resampling. The most common approach for terrain mapping with multispectral scanner data includes the techniques of pattern recognition and image classification, as opposed to direct measurement of radiance for identification of terrain features. The research approach in this investigation was based on an understanding of the characteristics of reflected light resulting from the variations in moisture and geometry related to terrain as described by the physical laws of radiative transfer. The image-based terrain model provides quantitative information about the terrain morphometry based on the physical relationship between TM data, the physical character of the GSLD, and the APTS measurements.

Merola, John A.↗