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At least 91 records · Page 5

Ground-Based Vision Tracker for Advanced Air Mobility and Urban Air Mobility

Advanced Air Mobility (AAM) Air Mobility and Urban Air Mobility (UAM) require aircraft surveillance and monitoring for safety and security. Persistent tracking of flying objects provides Air Traffic Control (ATC) and Air Traffic Management (ATM) continuous coverage and knowledge of the national airspace (NAS). Since there are numerous more AAM and UAM aircraft than commercial aircraft, it will be challenging to utilize the same ATC/ATM architectures. A first step in creating a similar ATC/ATM architecture for AAM/UAM will require ground-based and airborne-based sensors to provide monitoring, which will be difficult in urban environments due to GPS degradation. This paper proposes a vision-based tracking method with static cameras by utilizing image subtraction and blob detection, which avoids adding additional electromagnetic interferences in the environment with sensors such as radar. The ground-based vision tracker (GBVT) outputs the detected objects' azimuth and elevation angles from unmanned aerial system (UAS) flight tests. Future and ongoing work includes sending the detected objects' azimuth and elevation angles as inputs for an extended Kalman filter (EKF) to estimate the position and velocity of the detected object.

distributed sensing↗

Ground-Based Vision Tracker for Advanced Air Mobility and Urban Air Mobility

Advanced Air Mobility (AAM) Air Mobility and Urban Air Mobility (UAM) require aircraft surveillance and monitoring for safety and security. Persistent tracking of flying objects provides Air Traffic Control (ATC) and Air Traffic Management (ATM) continuous coverage and knowledge of the national airspace system (NAS). Given the significant disparity in the number of AAM and UAM aircraft compared to commercial aircraft in the NAS, coupled with the dense AAM/UAM operations in urban environments, employing the existing ATC/ATM architectures poses considerable challenges. A first step in creating a similar ATC/ATM architecture for AAM/UAM will require ground-based and airborne-based sensors to provide monitoring, which will be difficult in urban environments due to GPS degradation. This paper proposes a vision-based tracking method with static cameras by utilizing image subtraction and blob detection, which avoids adding additional electromagnetic interferences in the environment with sensors such as radar. The ground-based vision tracker (GBVT) outputs the detected objects' azimuth and elevation angles from unmanned aerial system (UAS) flight tests. Future and ongoing work includes sending the detected objects' azimuth and elevation angles as inputs for an extended Kalman filter (EKF) to estimate the position and velocity of the detected object.

distributed sensing↗

Automatic Detection and Classification of Radio Galaxy Images by Deep Learning

Abstract Surveys conducted by radio astronomy observatories, such as SKA, MeerKAT, Very Large Array, and ASKAP, have generated massive astronomical images containing radio galaxies (RGs). This generation of massive RG images has imposed strict requirements on the detection and classification of RGs and makes manual classification and detection increasingly difficult, even impossible. Rapid classification and detection of images of different types of RGs help astronomers make full use of the observed astronomical image data for further processing and analysis. The classification of FRI and FRII is relatively easy, and there are more studies and literature on them at present, but FR0 and FRI are similar, so it is difficult to distinguish them. It poses a greater challenge to image processing. At present, deep learning has made breakthrough progress in the field of image analysis and processing and has preliminary applications in astronomical data processing. Compared with classification algorithms that can only classify galaxies, object detection algorithms that can locate and classify RGs simultaneously are preferred. In target detection algorithms, YOLOv5 has outstanding advantages in the classification and positioning of small targets. Therefore, we propose a deep-learning method based on an improved YOLOv5 object detection model that makes full use of multisource data, combining FIRST radio with SDSS optical image data, and realizes the automatic detection of FR0, FRI, and FRII RGs. The innovation of our work is that on the basis of the original YOLOv5 object detection model, we introduce the SE Net attention mechanism, increase the number of preset anchors, adjust the network structure of the feature pyramid, and modify the network structure, thereby allowing our model to demonstrate galaxy classification and position detection effects. Our improved model produces satisfactory results, as evidenced by experiments. Overall, the mean average precision (mAP@0.5) of our improved model on the test set reaches 89.4%, which can determine the position (R.A. and decl.) and automatically detect and classify FR0s, FRIs, and FRIIs. Our work contributes to astronomy because it allows astronomers to locate FR0, FRI, and FRII galaxies in a relatively short time and can be further combined with other astronomically generated data to study the properties of these galaxies. The target detection model can also help astronomers find FR0s, FRIs, and FRIIs in future surveys and build a large-scale star RG catalog. Moreover, our work is also useful for the detection of other types of galaxies.

Astronomy & Astrophysics↗

Algorithms for detection of objects in image sequences captured from an airborne imaging system

This research was initiated as a part of the effort at the NASA Ames Research Center to design a computer vision based system that can enhance the safety of navigation by aiding the pilots in detecting various obstacles on the runway during critical section of the flight such as a landing maneuver. The primary goal is the development of algorithms for detection of moving objects from a sequence of images obtained from an on-board video camera. Image regions corresponding to the independently moving objects are segmented from the background by applying constraint filtering on the optical flow computed from the initial few frames of the sequence. These detected regions are tracked over subsequent frames using a model based tracking algorithm. Position and velocity of the moving objects in the world coordinate is estimated using an extended Kalman filter. The algorithms are tested using the NASA line image sequence with six static trucks and a simulated moving truck and experimental results are described. Various limitations of the currently implemented version of the above algorithm are identified and possible solutions to build a practical working system are investigated.

Kasturi, Rangachar↗

Remote Sensing Low Signal-to-Noise-Ratio Target Detection Enhancement

In real-time remote sensing application, frames of data are continuously flowing into the processing system. The capability of detecting objects of interest and tracking them as they move is crucial to many critical surveillance and monitoring missions. Detecting small objects using remote sensors is an ongoing, challenging problem. Since object(s) are located far away from the sensor, the target’s Signal-to-Noise-Ratio (SNR) is low. The Limit of Detection (LOD) for remote sensors is bounded by what is observable on each image frame. In this paper, we present a new method, a “Multi-frame Moving Object Detection System (MMODS)”, to detect small, low SNR objects that are beyond what a human can observe in a single video frame. This is demonstrated by using simulated data where our technology-detected objects are as small as one pixel with a targeted SNR, close to 1:1. We also demonstrate a similar improvement using live data collected with a remote camera. The MMODS technology fills a major technology gap in remote sensing surveillance applications for small target detection. Our method does not require prior knowledge about the environment, pre-labeled targets, or training data to effectively detect and track slow- and fast-moving targets, regardless of the size or the distance.

47 OTHER INSTRUMENTATION↗

Sensing Technology Survey for Obstacle Detection in Vegetation

This study reviews obstacle detection technologies in vegetation for autonomous vehicles or robots. Autonomous vehicles used in agriculture and as lawn mowers face many environmental obstacles that are difficult to recognize for the vehicle sensor. This review provides information on choosing appropriate sensors to detect obstacles through vegetation, based on experiments carried out in different agricultural fields. The experimental setup from the literature consists of sensors placed in front of obstacles, including a thermal camera; red, green, blue (RGB) camera; 360° camera; light detection and ranging (LiDAR); and radar. These sensors were used either in combination or single-handedly on agricultural vehicles to detect objects hidden inside the agricultural field. The thermal camera successfully detected hidden objects, such as barrels, human mannequins, and humans, as did LiDAR in one experiment. The RGB camera and stereo camera were less efficient at detecting hidden objects compared with protruding objects. Radar detects hidden objects easily but lacks resolution. Hyperspectral sensing systems can identify and classify objects, but they consume a lot of storage. To obtain clearer and more robust data of hidden objects in vegetation and extreme weather conditions, further experiments should be performed for various climatic conditions combining active and passive sensors.

33 ADVANCED PROPULSION SYSTEMS↗

Computer Vision: EO Imaging & Video Tasks, Metrics, and Datasets [Slides]

Classification is an assignment of an image to a certain category. Localization is identified by the box surrounding the object in the image. Object detection detects instances of semantic objects of a certain class. Semantic segmentation categorizes all the pixels of an image into classes of objects. Instance segmentation identifies each instance of each object in the image. Panoptic (i.e., showing or seeing everything at once) segmentation is a combination of semantic and instance segmentation and classifies all the pixels in the image.

97 MATHEMATICS AND COMPUTING↗

Ultraviolet Galaxy Counts From STIS Observations of The Hubble Deep Fields

We present galaxy counts in the near and far ultraviolet (NUV and FUV) obtained from Space Telescope Imaging Spectrograph (STIS) observations of portions of the Hubble Deep Field North, (HDFN), the Hubble Deep Field South, (HDFS) and a parallel field near the HDFN. All three fields have deep (AB>29) optical imaging, and we determine magnitudes by taking the ultraviolet flux detected within the limiting optical isophote. An analysis of the UV-optical colors of detected objects, combined with a visual inspection of the UV images, indicates that there are no detectable objects in the UV images which are not also detected in the optical. We measure the detection area and completeness as a function of magnitude by taking the size-magnitude distribution of galaxies in the entire HDFN WFPC2 V+I image, applying the measured UV-optical colors from the detected galaxies, and determining the total area over which each galaxy would have been detected in the UV images. The average area for the simulated galaxies in each UV magnitude bin, (including galaxies which would not be detected at all), provides the effective area and completeness for the bin. We test this procedure with Monte Carlo simulations. The galaxy counts reach to AB=29 in both the NUV and FUV; 1 magnitude fainter than the HDF F30OW counts, and 7 magnitudes fainter than balloon-based counts. We compare our measured counts to various models.

Gardner, J. P.↗

Optimal addition of images for detection and photometry

In this paper we describe weighting techniques used for the optimal coaddition of charge coupled devices (CCD) frames with differing characteristics. Optimal means maximum signal to noise (S/N) for stellar objects. We derive formulas for four applications: (1) object detection via matched filter, (2) object detection identical to DAOFIND, (3) aperture photometry, and (4) ALLSTAR profile-fitting photometry. We have included examples involving 21 frames for which either the sky brightness or image resolution varied by a factor of 3. The gains in S/N were modest for most of the examples, except for DAOFIND detection with varying image resolution which exhibited a substantial S/N increase. Even though the only consideration was maximizing S/N, the image resolution was seen to improve for most of the variable resolution examples. Also discussed are empirical fits for the weighting and the availability of the program, WEIGHT, used to generate the weighting for the individual frames. Finally, we include appendices describing the effects of clipping algorithms and a scheme for star/galaxy and cosmic-ray/star discrimination. scheme for star/galaxy and cosmic-ray/star discrimination.

Fischer, Philippe↗

A model-based approach for detection of objects in low resolution passive millimeter wave images

A model-based vision system to assist the pilots in landing maneuvers under restricted visibility conditions is described. The system was designed to analyze image sequences obtained from a Passive Millimeter Wave (PMMW) imaging system mounted on the aircraft to delineate runways/taxiways, buildings, and other objects on or near runways. PMMW sensors have good response in a foggy atmosphere, but their spatial resolution is very low. However, additional data such as airport model and approximate position and orientation of aircraft are available. These data are exploited to guide our model-based system to locate objects in the low resolution image and generate warning signals to alert the pilots. Also analytical expressions were derived from the accuracy of the camera position estimate obtained by detecting the position of known objects in the image.

Kasturi, Rangachar↗

A model-based approach for detection of objects in low resolution passive-millimeter wave images

We describe a model-based vision system to assist pilots in landing maneuvers under restricted visibility conditions. The system was designed to analyze image sequences obtained from a Passive Millimeter Wave (PMMW) imaging system mounted on the aircraft to delineate runways/taxiways, buildings, and other objects on or near runways. PMMW sensors have good response in a foggy atmosphere; but, their spatial resolution is very low. However, additional data such as airport model and approximate position and orientation of aircraft are available. We exploit these data to guide our model-based system to locate objects in the low resolution image and generate warning signals to alert the pilots. We also derive analytical expressions for the accuracy of the camera position estimate obtained by detecting the position of known objects in the image.

Tang, Yuan-Liang↗

A Mid-Infrared Imaging Survey of Embedded Young Stellar Objects in the (rho) Ophiuchi Cloud Core

Results of a comprehensive, new, ground-based mid-infrared imaging survey of the young stellar population of the (rho) Ophiuchi cloud are presented. Data were acquired at the Palomar 5m and at the Keck 10m telescopes with the MIRLIN and LWS instruments, at 0'.5 and 0'.25 resolutions, respectively. Of 172 survey objects, 85 were detected. Among the 22 multiple systems observed, 15 were resolved and their individual component fluxes determined. A plot of the frequency distribution of the detected objects with SED spectral slope shows that YSOs spend approx.4 x 10(exp 5) yr in the flat-spectrum phase, clearing out their remnant infall envelopes. Mid-infrared variability is found among a significant fraction of the surveyed objects and is found to occur for all SED classes with optically thick disks. Large-amplitude near-infrared variability, also found for all SED classes with optically thick disks, seems to occur with somewhat higher frequency at the earlier evolutionary stages. Although a general trend of mid-infrared excess and near-infrared veiling exists progressing through SED classes, with Class I objects generally exhibiting r(sub K) >= 1, flat-spectrum objects with r(sub K) >= 0.58, and Class III objects with r(sub K) =0, Class II objects exhibit the widest range of r(sub K) values, ranging from 0 <= r(sub K) <= 4.5. However, the highly variable value of veiling that a single source can exhibit in any of the SED classes in which active disk accretion can take place is striking and is direct observational evidence for highly time-variable accretion activity in disks. Finally, by comparing mid-infrared versus near-infrared excesses in a subsample with well-determined effective temperatures and extinction values, disk-clearing mechanisms are explored. The results are consistent with disk clearing proceeding from the inside out.

planetary systems↗

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

Allen, B. Danette↗

UAV Research at NASA Langley: Towards Safe, Reliable, and Autonomous Operations

Unmanned Aerial Vehicles (UAV) are fundamental components in several aspects of research at NASA Langley, such as flight dynamics, mission-driven airframe design, airspace integration demonstrations, atmospheric science projects, and more. In particular, NASA Langley Research Center (Langley) is using UAVs to develop and demonstrate innovative capabilities that meet the autonomy and robotics challenges that are anticipated in science, space exploration, and aeronautics. These capabilities will enable new NASA missions such as asteroid rendezvous and retrieval (ARRM), Mars exploration, in-situ resource utilization (ISRU), pollution measurements in historically inaccessible areas, and the integration of UAVs into our everyday lives all missions of increasing complexity, distance, pace, and/or accessibility. Building on decades of NASA experience and success in the design, fabrication, and integration of robust and reliable automated systems for space and aeronautics, Langley Autonomy Incubator seeks to bridge the gap between automation and autonomy by enabling safe autonomous operations via onboard sensing and perception systems in both data-rich and data-deprived environments. The Autonomy Incubator is focused on the challenge of mobility and manipulation in dynamic and unstructured environments by integrating technologies such as computer vision, visual odometry, real-time mapping, path planning, object detection and avoidance, object classification, adaptive control, sensor fusion, machine learning, and natural human-machine teaming. These technologies are implemented in an architectural framework developed in-house for easy integration and interoperability of cutting-edge hardware and software.

Davila, Carlos G.↗

Predicting Satellite Close Approaches Using Statistical Parameters in the Context of Artificial Intelligence

In order to ensure a sustainable use of low earth orbit in particular and near Earth space in general, reliable and effective close approach prediction be-tween space objects is key. Only this allows for efficient and timely colli-sion avoidance. Space Situational Awareness (SSA) for commercial and government missions will be facing the rapidly growing amount of small and potentially less agile satellites as well as debris in the near earth realm, such as the increase in CubeSat launches and upcoming large constellations. At the same time, space object detection capabilities are expected to increase significantly, allowing for the reliable detection of smaller objects, e.g. when the Air Force Space Fence radar becomes operational. In combination, the space object catalog is expected to increase tremendously in size. In this paper, we introduce an investigative approach based on the latest capabili-ties in artificial intelligence in fostering the potential for fast and accurate close approach predictions. We consider the study of statistical and infor-mation theory parameters in contrast and complementary to the classical probability of collision computation alone, in order to determine the feasi-bility of reliably predicting close approaches.

Mashiku, A.↗

Predicting Satellite Close Approaches Using Statistical Parameters in the Context of Artificial Intelligence

In order to ensure a sustainable use of low earth orbit in particular and near Earth space in general, reliable and effective close approach prediction be-tween space objects is key. Only this allows for efficient and timely colli-sion avoidance. Space Situational Awareness (SSA) for commercial and government missions will be facing the rapidly growing amount of small and potentially less agile satellites as well as debris in the near earth realm, such as the increase in CubeSat launches and upcoming large constellations. At the same time, space object detection capabilities are expected to increase significantly, allowing for the reliable detection of smaller objects, e.g. when the Air Force Space Fence radar becomes operational. In combination, the space object catalog is expected to increase tremendously in size. In this paper, we introduce an investigative approach based on the latest capabili-ties in artificial intelligence in fostering the potential for fast and accurate close approach predictions. We consider the study of statistical and infor-mation theory parameters in contrast and complementary to the classical probability of collision computation alone, in order to determine the feasi-bility of reliably predicting close approaches.

Mashiku, Alinda↗

Towards deep computer vision for in-line defect detection in polymer electrolyte membrane fuel cell materials

Polymer Electrolyte Membrane (PEM) fuel cells are a promising source of alternative energy. However, their production is limited by a lack of well-established methods for quality control of their constituent materials like the membrane-electrode assembly during roll-to-roll manufacturing. One potential solution is the implementation of deep learning methods to detect unwanted defects through their detection in scanned images. Here we explore the detection of defects like scratches, pinholes, and scuffs in a sample dataset of PEM optical images using two deep learning algorithms: Patch Distribution Modeling (PaDiM) for unsupervised anomaly detection and Faster-RCNN for supervised object detection. Both methods achieve scores on performance metrics (ROC-AUC and PRO-AUC for PaDiM and AP for Faster-RCNN) that are comparable to their scores on benchmark datasets. These methods also have the potential to detect a wider range of defects compared to IR thermography and previous optical inspection methods. Overall, deep learning shows promise at detecting relevant defects of interest and has the potential to achieve real-time defect detection.

30 DIRECT ENERGY CONVERSION↗

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

Karlen, James P.↗