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All sourcesNASA NTRSDOE OSTI
NASA NTRS2010

Stereoscopic Machine-Vision System Using Projected Circles

A machine-vision system capable of detecting obstacles large enough to damage or trap a robotic vehicle is undergoing development. The system includes (1) a pattern generator that projects concentric circles of laser light forward onto the terrain, (2) a stereoscopic pair of cameras that are aimed forward to acquire images of the circles, (3) a frame grabber and digitizer for acquiring image data from the cameras, and (4) a single-board computer that processes the data. The system is being developed as a prototype of machine- vision systems to enable robotic vehicles ( rovers ) on remote planets to avoid craters, large rocks, and other terrain features that could capture or damage the vehicles. Potential terrestrial applications of systems like this one could include terrain mapping, collision avoidance, navigation of robotic vehicles, mining, and robotic rescue. This system is based partly on the same principles as those of a prior stereoscopic machine-vision system in which the cameras acquire images of a single stripe of laser light that is swept forward across the terrain. However, this system is designed to afford improvements over some of the undesirable features of the prior system, including the need for a pan-and-tilt mechanism to aim the laser to generate the swept stripe, ambiguities in interpretation of the single-stripe image, the time needed to sweep the stripe across the terrain and process the data from many images acquired during that time, and difficulty of calibration because of the narrowness of the stripe. In this system, the pattern generator does not contain any moving parts and need not be mounted on a pan-and-tilt mechanism: the pattern of concentric circles is projected steadily in the forward direction. The system calibrates itself by use of data acquired during projection of the concentric-circle pattern onto a known target representing flat ground. The calibration- target image data are stored in the computer memory for use as a template in processing terrain images. During operation on terrain, the images acquired by the left and right cameras are analyzed. The analysis includes (1) computation of the horizontal and vertical dimensions and the aspect ratios of rectangles that bound the circle images and (2) comparison of these aspect ratios with those of the template. Coordinates of distortions of the circles are used to identify and locate objects. If the analysis leads to identification of an object of significant size, then stereoscopicvision algorithms are used to estimate the distance to the object. The time taken in performing this analysis on a single pair of images acquired by the left and right cameras in this system is a fraction of the time taken in processing the many pairs of images acquired in a sweep of the laser stripe across the field of view in the prior system. The results of the analysis include data on sizes and shapes of, and distances and directions to, objects. Coordinates of objects are updated as the vehicle moves so that intelligent decisions regarding speed and direction can be made. The results of the analysis are utilized in a computational decision-making process that generates obstacle-avoidance data and feeds those data to the control system of the robotic vehicle.

Mackey, Jeffrey R.↗
NASA NTRS2016

Extending the Reach of IGSN Beyond Earth: Implementing IGSN Registration to Link Nasa's Apollo Lunar Samples and Their Data

The rock and soil samples returned from the Apollo missions from 1969-72 have supported 46 years of research leading to advances in our understanding of the formation and evolution of the inner Solar System. NASA has been engaged in several initiatives that aim to restore, digitize, and make available to the public existing published and unpublished research data for the Apollo samples. One of these initiatives is a collaboration with IEDA (Interdisciplinary Earth Data Alliance) to develop MoonDB, a lunar geochemical database modeled after PetDB (Petrological Database of the Ocean Floor). In support of this initiative, NASA has adopted the use of IGSN (International Geo Sample Number) to generate persistent, unique identifiers for lunar samples that scientists can use when publishing research data. To facilitate the IGSN registration of the original 2,200 samples and over 120,000 subdivided samples, NASA has developed an application that retrieves sample metadata from the Lunar Curation Database and uses the SESAR API to automate the generation of IGSNs and registration of samples into SESAR (System for Earth Sample Registration). This presentation will describe the work done by NASA to map existing sample metadata to the IGSN metadata and integrate the IGSN registration process into the sample curation workflow, the lessons learned from this effort, and how this work can be extended in the future to help deal with the registration of large numbers of samples.

Todd, Nancy S.↗
NASA NTRSDate not supplied

Digital Lunar Exploration Sites (DLES)

It has been almost 50 years since humans last set foot on the Moon. With NASA’s Artemis program, the United States and its international and commercial partners are embarking on a new endeavor to explore the lunar surface. Before we return, we will have simulated every aspect of these future missions. Many of these models and simulations (M&S) will rely on well-known and commonly-used technologies, some of which trace their origins back to the Apollo program. However, M&S has advanced significantly, as have the underlying computational capabilities. As a result, we are able to model many more aspects of the Artemis vehicles and support systems with significantly improved detail and confidence. Accurately and efficiently modeling the lunar environment will be critical to simulating the Artemis elements and mission activities. This includes characterizing and modeling lunar topography, smaller craters, exposed surface rocks, lunar regolith, surface lighting, and ambient thermal environment. These are all necessary for understanding fundamental behaviors and performance of vehicles and support systems in the lunar environment and are often determining factors in the selection of exploration sites and defining mission profiles. The Astromaterials Research and Exploration Sciences (ARES) team in the Exploration Integration and Science Directorate at NASA’s Johnson Space Center (JSC) and the NASA Exploration Systems Simulations (NExSyS) team in the Simulation and Graphics Branch at JSC are developing and maintaining the Digital Lunar Exploration Sites (DLES) data, documentation, and software packages. This data is being fed directly into a diverse collection of graphics and simulation environments, where it is used to construct the closest known truth for numerous potential Lunar South Pole landing sites. DLES is available to projects across NASA and particularly the Artemis program to support coordinated digital representations of the lunar environment. This paper describes the fundamental need for DLES, the science data sets that are going into DLES, some of the processes used to integrate this data into DLES products, the basic products that constitute DLES, and some examples of DLES in use.

Lunar↗
NASA NTRS1984

Development and evaluation of techniques for using combined microwave and optical image data for vegetation studies

Techniques for using combined image data from the Shuttle Imaging Radar (SIR-B) and the LANDSAT Thematic Mapper (TM) or Multispectral Scanner (MSS) for studies of irrigated crops, and boreal and deciduous forests are developed and evaluated. The effects of the structure and composition of crop canopies and soil surfaces on multiangle L-band HH (Horizontal polarization for transmission and reception) backscattering and on optical reflectance (in TM or MSS bands viewed at the nadir) are investigated. The relative accuracy of digital, calibrated SIR-B image data and LANDSAT TM or MSS image data is evaluated. Textural information extraction-techniques are developed for radar and optical image analysis.

Paris, J. F.↗
NASA NTRS2005

Monitoring Eruptive Activity at Mount St. Helens with TIR Image Data

Thermal infrared (TIR) data from the MASTER airborne imaging spectrometer were acquired over Mount St. Helens in Sept and Oct, 2004, before and after the onset of recent eruptive activity. Pre-eruption data showed no measurable increase in surface temperatures before the first phreatic eruption on Oct 1. MASTER data acquired during the initial eruptive episode on Oct 14 showed maximum temperatures of similar to approximately 330 C and TIR data acquired concurrently from a Forward Looking Infrared (FLIR) camera showed maximum temperatures similar to approximately 675 C, in narrow (approximately 1-m) fractures of molten rock on a new resurgent dome. MASTER and FLIR thermal flux calculations indicated a radiative cooling rate of approximately 714 J/m(exp 2)/s over the new dome, corresponding to a radiant power of approximately 24 MW. MASTER data indicated the new dome was dacitic in composition, and digital elevation data derived from LIDAR acquired concurrently with MASTER showed that the dome growth correlated with the areas of elevated temperatures. Low SO2 concentrations in the plume combined with sub-optimal viewing conditions prohibited quantitative measurement of plume SO2. The results demonstrate that airborne TIR data can provide information on the temperature of both the surface and plume and the composition of new lava during eruptive episodes. Given sufficient resources, the airborne instrumentation could be deployed rapidly to a newly-awakening volcano and provide a means for remote volcano monitoring.

thermal emissions↗
NASA NTRS1975

Geological mapping in northwestern Saudi Arabia using LANDSAT multispectral techniques

Various computer enhancement and data extraction systems using LANDSAT data were assessed and used to complement a continuing geologic mapping program. Interactive digital classification techniques using both the maximum-likelihood and thresholding statistical approaches achieve very limited success in areas of highly dissected terrain. Computer enhanced imagery developed by color compositing stretched MSS ratio data was constructed for a test site in northwestern Saudi Arabia. Initial results indicate that several igneous and sedimentary rock-types can be discriminated.

Blodget, H. W.↗
NASA NTRS1975

Geological mapping in northwestern Saudi Arabia using LANDSAT multispectral techniques

Various computer enhancement and data extraction systems using LANDSAT data were assessed and used to complement a continuing geologic mapping program. Interactive digital classification techniques using both the parallel-piped and maximum-likelihood statistical approaches achieve very limited success in areas of highly dissected terrain. Computer enhanced imagery developed by color compositing stretched MSS ratio data was constructed for a test site in northwestern Saudi Arabia. Initial results indicate that several igneous and sedimentary rock types can be discriminated.

Blodget, H. W.↗
NASA NTRS1993

The Clementine instrument complement

The recent successes of the Galileo solid-state imaging (SSI) experiment at the Moon and Gaspra show the utility of multispectral imaging of planetary objects. 'Clementine' is the planetary community's 'code name' for the SDIO (Space Defense Initiative Organization), mission to the Moon and the asteroid Geographos. This mission is designed as a long term stressing test on sensors and space systems developed for SDIO. In the course of this test Clementine will obtain science data using a varied and powerful array of remote sensing instruments which were developed by or for Lawrence Livermore National Laboratory in Livermore, California. Clementine carries five cameras, one for navigation and four for science experiments. In addition, a laser ranger is included which will serve as a laser altimeter. The Clementine cameras cover a wider range of spatial resolutions and wavelength range than did Galileo and are almost ideally suited to mapping of mafic rock types as are present on the Moon and expected at Geographos. Calibration of the cameras will occur at the sensor calibration laboratory at LLNL. In flight calibrations, using standard stars and other standards should improve the stated accuracies. Signal-to-noise ratios (SNRs) include the following noise sources: shot noise, calibration error, digitization noise, readout noise, and frame transfer noise (where applicable). The achieved SNRs are a balance between detector saturation and acceptable image smear. The 'worst' case uses the longest possible integration times.

Lucey, Paul G.↗
NASA NTRS2014

The Apollo Lunar Sample Image Collection: Digital Archiving and Online Access

The primary goal of the Apollo Program was to land human beings on the Moon and bring them safely back to Earth. This goal was achieved during six missions - Apollo 11, 12, 14, 15, 16, and 17 - that took place between 1969 and 1972. Among the many noteworthy engineering and scientific accomplishments of these missions, perhaps the most important in terms of scientific impact was the return of 382 kg (842 lb.) of lunar rocks, core samples, pebbles, sand, and dust from the lunar surface to Earth. Returned samples were curated at JSC (then known as the Manned Spacecraft Center) and, as part of the original processing, high-quality photographs were taken of each sample. The top, bottom, and sides of each rock sample were photographed, along with 16 stereo image pairs taken at 45-degree intervals. Photographs were also taken whenever a sample was subdivided and when thin sections were made. This collection of lunar sample images consists of roughly 36,000 photographs; all six Apollo missions are represented.

Todd, Nancy S.↗
NASA NTRS1973

Analysis and application of ERTS-1 data for regional geological mapping

Combined visual and digital techniques of analysing ERTS-1 data for geologic information have been tried on selected areas in Pennsylvania. The major physiolographic and structural provinces show up well. Supervised mapping, following the imaged expression of known geologic features on ERTS band 5 enlargements (1:250,000) of parts of eastern Pennsylvania, delimited the Diabase Sills and the Precambrian rocks of the Reading Prong with remarkable accuracy. From unsupervised mapping, transgressive linear features are apparent in unexpected density, and exhibit strong control over river valley and stream channel directions. They are unaffected by bedrock type, age, or primary structural boundaries, which suggests they are either rejuvenated basement joint directions on different scales, or they are a recently impressed structure possibly associated with a drifting North American plate. With ground mapping and underflight data, 6 scales of linear features have been recognized.

Gold, D. P.↗
NASA NTRS1984

Utilization of digital LANDSAT imagery for the study of granitoid bodies in Rondonia: Case example of the Pedra Branca massif

Analysis of digital multispectral MSS-LANDSAT images enhanced through computer techniques and enlarged to a video scale of 1:100.000, show the main geological and structura features of the Pedra Branca granitic massif in Rondonia. These are not observed in aerial photographs or adar images. Field work shows that LANDSAT photogeological units correspond to different facies of granitic rocks in the Pedra Branca massif. Even under the particular characteristics of Amazonia (Tropical Forest, deep weathering, and Quaternary sedimentary covers), an adequate utilization of orbital remote sensing images can be important tools for the orientation of field works.

Parada, N. D. J.↗
NASA NTRS2008

Degradation of Victoria Crater, Mars

The $\sim$750 m diameter and $\sim$75 m deep Victoria crater in Meridiani Planum, Mars, presents evidence for significant degradation including a low, serrated, raised rim characterized by alternating alcoves and promontories, a surrounding low relief annulus, and a floor partially covered by dunes. The amount and processes of degradation responsible for the modified appearance of Victoria crater were evaluated using images obtained in situ by the Mars Exploration Rover Opportunity in concert with a digital elevation model created using orbital HiRISE images. Opportunity traversed along the north and northwest rim and annulus, but sufficiently characterized features visible in the DEM to enable detailed measurements of rim relief, ejecta thickness, and wall slopes around the entire degraded, primary impact structure. Victoria retains a 5 m raised rim consisting of 1-2 m of uplifted rocks overlain by 3 m of ejecta at the rim crest. The rim is $\sim$120 to 220 m wide and is surrounded by a dark annulus reaching an average of 590 m beyond the raised rim. Comparison between observed morphology and that expected for pristine craters 500 to 750 m across indicate the original, pristine crater was close to 600 m in diameter. Hence, the crater has been erosionally widened by approximately 150 m and infilled by about 50 m of sediments. Eolian processes are responsible for modification at Victoria, but lesser contributions from mass wasting or other processes cannot be ruled out. Erosion by prevailing winds is most significant along the exposed rim and upper walls and accounts for $\sim$50 m widening across a WNW-ESE diameter. The volume of material eroded from the crater walls and rim is $\sim$20% less than the volume of sediments partially filling the crater, indicating eolian infilling from sources outside the crater over time. The annulus formed when $\sim$1 m deflation of the ejecta created a lag of more resistant hematite spherules that trapped darker, regional basaltic sands.

Wilson, Sharon A.↗
NASA NTRS2010

Creation of High Resolution Terrain Models of Barringer Meteorite Crater (Meteor Crater) Using Photogrammetry and Terrestrial Laser Scanning Methods

Barringer Meteorite Crater or Meteor Crater, AZ, has been a site of high interest for lunar and Mars analog crater and terrain studies since the early days of the Apollo-Saturn program. It continues to be a site of exceptional interest to lunar, Mars, and other planetary crater and impact analog studies because of its relatively young age (est. 50 thousand years) and well-preserved structure. High resolution (2 meter to 1 decimeter) digital terrain models of Meteor Crater in whole or in part were created at NASA Stennis Space Center to support several lunar surface analog modeling activities using photogrammetric and ground based laser scanning techniques. The dataset created by this activity provides new and highly accurate 3D models of the inside slope of the crater as well as the downslope rock distribution of the western ejecta field. The data are presented to the science community for possible use in furthering studies of Meteor Crater and impact craters in general as well as its current near term lunar exploration use in providing a beneficial test model for lunar surface analog modeling and surface operation studies.

Brown, Richard B.↗
NASA NTRS1979

Field measurement of penetrator seismic coupling in sediments and volcanic rocks

Field experiments were conducted to determine experimentally how well a seismometer installed using a penetrator would be coupled to the ground. A dry lake bed and a lava bed were chosen as test sites to represent geological environments of two widely different material properties. At each site, two half-scale penetrators were fired into the ground, a three-component geophone assembly was mounted to the aft end of each penetrator, and dummy penetrators were fired at various distances to generate seismic signals. The recorded signals were digitized, and cross-spectral analyses were performed to compare the observed signals in terms of power spectral density ratio, coherence and phase difference. The analyses indicate that seismometers deployed by penetrators will be as well coupled to the ground as are seismometers installed by conventional methods for the frequency range of interest in earthquake seismology, although some minor differences were observed at frequencies near the upper limit of the frequency band.

Nakamura, Y.↗
NASA NTRS1998

A New Image Processing and GIS Package

The image processing and GIS package ELAS was developed during the 1980's by NASA. It proved to be a popular, influential and powerful in the manipulation of digital imagery. Before the advent of PC's it was used by hundreds of institutions, mostly schools. It is the unquestioned, direct progenitor or two commercial GIS remote sensing packages, ERDAS and MapX and influenced others, such as PCI. Its power was demonstrated by its use for work far beyond its original purpose, having worked several different types of medical imagery, photomicrographs of rock, images of turtle flippers and numerous other esoteric imagery. Although development largely stopped in the early 1990's the package still offers as much or more power and flexibility than any other roughly comparable package, public or commercial. It is a huge body or code, representing more than a decade of work by full time, professional programmers. The current versions all have several deficiencies compared to current software standards and usage, notably its strictly command line interface. In order to support their research needs the authors are in the process of fundamentally changing ELAS, and in the process greatly increasing its power, utility, and ease of use. The new software is called ELAS II. This paper discusses the design of ELAS II.

Rickman, D.↗
NASA NTRS2014

A Super-Resolution Algorithm for Enhancement of FLASH LIDAR Data: Flight Test Results

This paper describes the results of a 3D super-resolution algorithm applied to the range data obtained from a recent Flash Lidar helicopter flight test. The flight test was conducted by the NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) project over a simulated lunar terrain facility at NASA Kennedy Space Center. ALHAT is developing the technology for safe autonomous landing on the surface of celestial bodies: Moon, Mars, asteroids. One of the test objectives was to verify the ability of 3D super-resolution technique to generate high resolution digital elevation models (DEMs) and to determine time resolved relative positions and orientations of the vehicle. 3D super-resolution algorithm was developed earlier and tested in computational modeling, and laboratory experiments, and in a few dynamic experiments using a moving truck. Prior to the helicopter flight test campaign, a 100mX100m hazard field was constructed having most of the relevant extraterrestrial hazard: slopes, rocks, and craters with different sizes. Data were collected during the flight and then processed by the super-resolution code. The detailed DEM of the hazard field was constructed using independent measurement to be used for comparison. ALHAT navigation system data were used to verify abilities of super-resolution method to provide accurate relative navigation information. Namely, the 6 degree of freedom state vector of the instrument as a function of time was restored from super-resolution data. The results of comparisons show that the super-resolution method can construct high quality DEMs and allows for identifying hazards like rocks and craters within the accordance of ALHAT requirements.

Bulyshev, Alexander↗
NASA NTRS1979

Processing of multispectral thermal IR data for geologic applications

Multispectral thermal IR data were acquired with a 24-channel scanner flown in an aircraft over the E. Tintic Utah mining district. These digital image data required extensive computer processing in order to put the information into a format useful for a geologic photointerpreter. Simple enhancement procedures were not sufficient to reveal the total information content because the data were highly correlated in all channels. The data were shown to be dominated by temperature variations across the scene, while the much more subtle spectral variations between the different rock types were of interest. The image processing techniques employed to analyze these data are described.

Kahle, A. B.↗
NASA NTRS1984

Multiseasonal variables in digital image enhancements for geological applications

Examples of enhanced multiseasonal orbital imagery illustrate the influence of multiseasonal changes in their spatial and spectral attributes, and consequently in their application to structural geology and lithological discrimination. Shadow effects associated with appropriate solar elevation and azimuth effects enhance the spatial attributes but not the spectral. In this case, variations in illumination conditions should be minimized by selecting images with high solar elevation and by the use of techniques that minimize illumination conditions. Multiseasonal imagery should be used in the identification of spectral contrast changes of rock-soil-vegetation associations which can provide evidences of related lithological units and structural features. The extraction of maximum geological information requires, at least, a fall/winter and a spring/summer scene from which spatial, spectral and multiseasonal attributes can be adequately explored.

Parada, N. D. J.↗