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NASA NTRS1989

Map learning with indistinguishable locations

Nearly all spatial reasoning problems involve uncertainty of one sort or another. Uncertainty arises due to the inaccuracies of sensors used in measuring distances and angels. This is inferred as directional uncertainty. Uncertainty also arises in combining spatial information when one location is mistakenly identified with another. This is referred to as recognition uncertainty. Most problems in constructing spatial representations (maps) for the purpose of navigation involve both directional and recognition uncertainty. It is shown that a particular class of spatial reasoning problems involving the construction of representations of large-scale space can be solved efficiently even in the presence of directional and recognition uncertainty. Particular attention is paid to the problems that arise due to recognition uncertainty. The results described are applicable to the construction of global maps from satellite data as well as the construction of local navigation maps from measurements made by a rover in exploring a planetary surface.

Basye, Kenneth↗

NASA NTRS1974

SICLOPS - A system of computer programs for rectified mapping of airborne scanner imagery

This paper describes SICLOPS, a system of computer programs, which has been developed to perform geometrically corrected line-by-line mapping of airborne multispectral scanner data to ground coordinates and to estimate ground areas. As inputs, SICLOPS accepts aircraft attitude and positional information furnished by ancillary aircraft equipment, plus ground truth information giving the location, in map grid coordinates, of a number of recognizable landmarks on the ground. The geometric correction and mapping procedure locates the scan lines, or the pixels on each line, in terms of map grid coordinates. The area estimation procedure gives ground area for each pixel or for a predesignated parcel specified in map grid coordinates. The results of exercising the system with simulated data showed the uncorrected video and corrected imagery and produced area estimates accurate to better than 99.7%. Real input data, though prepared, have not yet been processed by the system.

Spencer, M. M.↗

DOE OSTI2019

Sparse Bayesian mass mapping with uncertainties: peak statistics and feature locations

ABSTRACT Weak lensing convergence maps – upon which higher order statistics can be calculated – can be recovered from observations of the shear field by solving the lensing inverse problem. For typical surveys this inverse problem is ill-posed (often seriously) leading to substantial uncertainty on the recovered convergence maps. In this paper we propose novel methods for quantifying the Bayesian uncertainty in the location of recovered features and the uncertainty in the cumulative peak statistic – the peak count as a function of signal-to-noise ratio (SNR). We adopt the sparse hierarchical Bayesian mass-mapping framework developed in previous work, which provides robust reconstructions and principled statistical interpretation of reconstructed convergence maps without the need to assume or impose Gaussianity. We demonstrate our uncertainty quantification techniques on both Bolshoi N-body (cluster scale) and Buzzard V-1.6 (large-scale structure) N-body simulations. For the first time, this methodology allows one to recover approximate Bayesian upper and lower limits on the cumulative peak statistic at well-defined confidence levels.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS2013

Video Altimeter and Obstruction Detector for an Aircraft

Video-based altimetric and obstruction detection systems for aircraft have been partially developed. The hardware of a system of this type includes a downward-looking video camera, a video digitizer, a Global Positioning System receiver or other means of measuring the aircraft velocity relative to the ground, a gyroscope based or other attitude-determination subsystem, and a computer running altimetric and/or obstruction-detection software. From the digitized video data, the altimetric software computes the pixel velocity in an appropriate part of the video image and the corresponding angular relative motion of the ground within the field of view of the camera. Then by use of trigonometric relationships among the aircraft velocity, the attitude of the camera, the angular relative motion, and the altitude, the software computes the altitude. The obstruction-detection software performs somewhat similar calculations as part of a larger task in which it uses the pixel velocity data from the entire video image to compute a depth map, which can be correlated with a terrain map, showing locations of potential obstructions. The depth map can be used as real-time hazard display and/or to update an obstruction database.

Delgado, Frank J.↗

DOE OSTI2024

The Integration and Mapping of an Open-Source National Well Resource to Inform Geologic Carbon Storage Site Selection and Risk Prevention: The CO2-Locate Database

Geologic carbon storage (GCS) offers a way to capture and permanently store CO₂ from fossil fuel operations in underground geologic structures, aiding in the transition to a carbon-neutral energy economy. However, CO₂ injection sites can experience gas leakage through existing wells that penetrate storage reservoirs, making knowledge of well locations and characteristics crucial for permitting, infrastructure reusability, and risk assessment in GCS. Currently, public wellbore data from state, federal, and tribal entities are inconsistent and fragmented, with gaps and redundancies. To address this, the National Energy Technology Laboratory (NETL) developed CO2-Locate, an open-source, geospatial database and online application. CO2-Locate integrates over 50 data sources from federal, state, and tribal entities, creating a standardized national well database. Funded by the Bipartisan Infrastructure Law, the database is publicly available through the Energy Data eXchange (EDX) and viewable via the CO2-Locate web mapping application. This tool allows users to query, filter, and visualize well data to support GCS planning, permitting, and risk assessments. This presentation covers the methods used to create CO2-Locate, including data acquisition, processing, attribute mapping, and integration, much of which is automated for future updates. The web mapping application and its role in GCS site selection will also be discussed.

Tetteh, Daniel A.↗

DOE OSTI2021

Valley Elderberry Longhorn Beetle Surveys at the Lawrence Livermore National Laboratory - Site 300

This report describes the results of a visual survey conducted in fall 2020 and spring 2021 to determine the potential presence of the federally listed Threatened Valley elderberry longhorn beetle (VELB; Desmocerus californicus dimorphus) and the quantity and quality of its host plant, blue elderberry (Sambucus nigra ssp. caerulea) on the Lawrence Livermore National Laboratory's (LLNL) Experimental Test Site, known as Site 300. In addition, an area located immediately southeast of Site 300, which is owned and managed by the California Department of Fish and Wildlife (CDFW), but secured by LLNL, was also included in this survey. This report will refer to the survey areas as the LLNL-Site 300 and the CDFW site. The fall 2020 survey included mapping the locations of elderberry plants that were observed using a global positioning system (GPS) to obtain positional coordinates for every elderberry plant at Site 300 and the CDFW site. In addition, observations of VELB emergence holes on elderberry plants were also mapped using GPS. The spring 2021 survey revisited most of the elderberry locations mapped in the fall of 2020 and surveyed for any new emergence holes or presence of VELB. Those locations not revisited were either considered poor VELB habitat (non-riparian) or were located within active Tricolored blackbird (Agelaius tricolor), nesting sites.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2016

DECIPHERING CONTRIBUTIONS TO THE EXTRAGALACTIC GAMMA-RAY BACKGROUND FROM 2 GeV TO 2 TeV

Astrophysical sources outside the Milky Way, such as active galactic nuclei and star-forming galaxies, leave their imprint on the gamma-ray sky as nearly isotropic emission referred to as the extragalactic gamma-ray background (EGB). While the brightest of these sources may be individually resolved, their fainter counterparts contribute diffusely. In this work, we use a recently developed analysis method, called the Non-Poissonian Template Fit, on up to 93 months of publicly available data from the Fermi Large Area Telescope to determine the properties of the point sources (PSs) that comprise the EGB. This analysis takes advantage of photon-count statistics to probe the aggregate properties of these source populations below the sensitivity threshold of published catalogs. We measure the source-count distributions and PS intensities, as a function of energy, from ∼2 GeV to 2 TeV. We find that the EGB is dominated by PSs, likely blazars, in all seven energy sub-bins considered. These results have implications for the interpretation of IceCube’s PeV neutrinos, which may originate from sources that contribute to the non-blazar component of the EGB. Additionally, we comment on implications for future TeV observatories such as the Cherenkov Telescope Array. We provide sky maps showing locations most likely to contain these new sources at both low (≲50 GeV) and high (≳50 GeV) energies for use in future observations and cross-correlation studies.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS2000

BOREAS TE-23 Map Plot Data

The Boreal Ecosystem-Atmospheric Study (BOREAS) TE-23 (Terrestrial Ecology) team collected map plot data in support of its efforts to characterize and interpret information on canopy architecture and understory cover at the BOREAS tower flux sites and selected auxiliary sites from May to August 1994. Mapped plots (typical dimensions 50 m x 60 m) were set up and characterized at all BOREAS forested tower flux and selected auxiliary sites. Detailed measurement of the mapped plots included: (1) stand characteristics (location, density, basal area); (2) map locations diameter at breast height (DBH) of all trees; (3) detailed geometric measures of a subset of trees (height, crown dimensions); and (4) understory cover maps. The data are stored in tabular ASCII files. The data files are available on a CD-ROM (see document number 20010000884), or from the Oak Ridge National Laboratory (ORNL) Distributed Active Archive Center (DAAC).

Rich, Paul M.↗

NASA NTRS2008

Discovering the Ancient Maya from Space

The Pet6n region of northern Guatemala contains some of the most significant Mayan archeological sites in Latin America. It was in this region that the Maya civilization began, flourished, and abruptly disappeared. Remote sensing technology is helping to locate and map ancient Maya sites that are threatened today by accelerating deforestation and looting. Thematic Mapper, IKONOS, and QuickBird satellite, and airborne STAR-3i and AIRSAR radar data, combined with Global Positioning System (GPS) technology, are successfully detecting ancient Maya features such as sites, roadways, canals, and water reservoirs. Satellite imagery is also being used to map the bajos, which are seasonally flooded swamps that cover over 40% of the land surface. Through the use of various airborne and satellite sensor systems we have been able to detect and map ancient causeways, temples, reservoirs, and land forms, and locate these features on the ground through GPS technology. Recently, we have discovered that there is a strong relationship between a tropical forest vegetation signature in satellite imagery and the location of archeological sites. We believe that the use of limestone and lime plasters in ancient Maya construction affects the moisture, nutrition, and plant species of the surface vegetation. We have mapped these vegetation signatures in the imagery and verified through field survey that they are indicative of archeological sites. Through the use of remote sensing and GIS technology it is possible to identify unrecorded archeological features in a dense tropical forest environment and monitor these cultural features for their protection.

Sever, T. L.↗

NASA NTRS2007

Discovering the Ancient Maya From Space

The Peten region of northern Guatemala contains some of the most significant Mayan archeological sites in Latin America. It was in this region that the Maya civilization began, flourished, and abruptly disappeared. Remote sensing technology is helping to locate and map ancient Maya sites that are threatened today by accelerating deforestation and looting. Thematic Mapper, IKONOS, and QuickBird satellite, and airborne STAR-3i and AIRSAR radar data, combined with Global Positioning System (GPS) technology, are successfully detecting ancient Maya features such as sites, roadways, canals, and water reservoirs. Satellite imagery is also being used to map the bajos, which are seasonally flooded swamps that cover over 40% of the land surface. Through the use of various airborne and satellite sensor systems we have been able to detect and map ancient causeways, temples, reservoirs, and land forms, and locate these features on the ground through GPS technology. Recently, we have discovered that there is a strong relationship between a tropical forest vegetation signature in satellite imagery and the location of archeological sites. We believe that the use o f limestone and lime plasters in ancient Maya construction affects the moisture, nutrition, and plant species of the surface vegetation. We have mapped these vegetation signatures in the imagery and verified through field survey that they are indicative of archeological sites. Through the use of remote sensing and GIS technology it is possible to identify unrecorded archeological features in a dense tropical forest environment and monitor these cultural features for their protection.

Sever, T. L.↗

NASA NTRS2019

Method for the Absolute Calibration of the Location and Orientation of Large-Format Detectors Using Laser Radar

A method of mapping pixel locations of a detector array includes measuring a location on the detector array, initiating a frame readout of the detector array, measuring a location of one or more metrology targets on the detector array, analyzing the frame readout to identify a pixel at the location on the detector array, and defining a location of the identified pixel with respect to the location of the one or more metrology targets. Subsequent measurement of the metrology targets alone by another metrology system allows one to infer the six degree of freedom alignment of the detector array in space.

Coulter, Phillip↗

NASA NTRS2005

Vision and "Hand-Eye" Coordination for the Fujitsu HOAP-2 Humanoid Robot

Software was developed for a Fujitsu HOAP-2 humanoid robot to demonstrate that such "human form" robots can be used to perform useful tasks in an unknown environment; specifically, that they can operate with or in the place of humans to carry out construction operations necessary for space exploration, such as building or maintaining planetary surface habitats for humans. This paper describes the autonomous vision and hand-eye coordination software that enables the HOAP-2 to locate and manipulate objects. Simple vision and pattern detection algorithms including color filtering, noise filtering, image segmentation, orientation filters, and a feedback controlled tracking system enable the robot to locate marked building materials in the workspace. Experimentally determined spatial mappings associate locations in the visual field with the arm joint angles and trajectories necessary to reach these locations, allowing the robot to reach for and manipulate the building materials. These capabilities, when combined with locomotion capabilities, enable the robot to operate autonomously in an unknown workspace.

Moore, Jeffrey D.↗

NASA NTRS1990

Lightning observations from space shuttle

The experimental program of the Earth Sciences and Applications Division at NASA/MSFC includes development of the Lightning Imaging Sensor (LIS) for the NOAA Earth Observing System (EOS) Polar Platform. The research plan is to use existing lightning information to generate simulated data for the LIS experiment. Navigation algorithms were used to transform pixel locations to latitude and longitude values. The simulated data would then be used to test and develop algorithms for the analysis of LIS data. Individual frames of video imagery obtained from Space Shuttle Missions provide the raw data for the simulation. Individual video frames were digitized to get the pixel locations of lightning flashes. The pixel locations will be used to locate the geographical position of the event. Because of a lack of detailed knowledge of camera orientation with respect to the Space Shuttle, video scenes that contain identifiable city lights were chosen for analysis. A method for locating the payload bay camera axis was developed and tested. Two measurements are needed: the pixel location of the apparent horizon and a timed siting of a known location passing the principal line of the image. Individual video frames were navigated and lightning illuminated clouds were located on the map. Satisfactory agreement in location was achieved for cities and LLP lightning locations. Ground truth measurements were compared to satellite observations. A vertical lightning event was identified on the horizon. Very low frequency (VLF) transmission on this particular occassion shows a strong response to negative cloud to cloud flashes.

Boeck, William L.↗

NASA NTRSDate not supplied

3D Geolocation of Simulated Lightning Sources from Low-Earth Orbit

The recent removal of the Lightning Imaging Sensor from the International Space Station has left an observational gap in lightning detection from low-Earth orbit (LEO). However, new studies have demonstrated the potential for 3D geolocation of lightning sources using orbiting sensors. The Cubespark mission concept aims to take advantage of these developments by deploying a constellation of satellites with radio frequency (RF) sensors and optical imagers to not only map lightning locations, but also to collect bi-spectral flash images. These new capabilities include mapping storm charge structure, flash channel structure, and distinguishing microphysical processes throughout flash development, helping link microphysics and convective processes with overall flash and storm structure around the globe from LEO. In this study, we simulate lightning RF sources in the very high frequency (VHF) band, extrapolate their signals to space-based detection using an improved ionospheric model, and reconstruct their 3D locations using a time-of-arrival (TOA) minimization algorithm. Various constellation configurations, locations, and atmospheric conditions are considered in order to identify and quantify the three main sources of geolocation error: geometric, ionospheric, and instrumental effects. The promising results of this study emphasize the potential of space-based 3D lightning mapping under diverse conditions. 3D resolution is shown to be better than 1-2 km in many cases, enabling new global applications in meteorology and climate sciences. Here we present a selection of these geolocation results as seen from space alongside recent advancements, paving the way for a future generation of LEO lightning mappers.

CubeSpark↗

NASA NTRS1974

A system to geometrically rectify and map airborne scanner imagery and to estimate ground area

A system of computer programs were developed which performs geometric rectification and line-by-line mapping of airborne multispectral scanner data to ground coordinates and estimates ground area. The system requires aircraft attitude and positional information furnished by ancillary aircraft equipment, as well as ground control points. The geometric correction and mapping procedure locates the scan lines, or the pixels on each line, in terms of map grid coordinates. The area estimation procedure gives ground area for each pixel or for a predesignated parcel specified in map grid coordinates. The results of exercising the system with simulated data showed the uncorrected video and corrected imagery and produced area estimates accurate to better than 99.7%.

Spencer, M. M.↗

NASA NTRS1975

Arizona land use experiment

Utilization of new sources of statewide remote sensing data, taken from high-altitude aircraft and from spacecraft is discussed along with incorporation of information extracted from these sources into on-going land and resources management programs in Arizona. Statewide cartographic applications of remote sensor data taken by NASA high-altitude aircraft include the development of a statewide semi-analytic control network, the production of nearly 1900 orthophotoquads (image maps) that are coincident in scale and area with the U.S. Geological Survey (USGS) 7. 5 minute topographic quadrangle map series, and satellite image maps of Arizona produced from LANDSAt multispectral scanner imagery. These cartographic products are utilized for a wide variety of experimental and operational earth resources applications. Applications of the imagery, image maps, and derived information discussed include: soils and geologic mapping projects, water resources investigations, land use inventories, environmental impact studies, highway route locations and mapping, vegetation cover mapping, wildlife habitat studies, power plant siting studies, statewide delineation of irrigation cropland, position determination of drilling sites, pictorial geographic bases for thematic mapping, and court exhibits.

Winikka, C. C.↗

DOE OSTI2014

Progress in quantitative GPR development at CNDE

Ground penetrating radar (GPR) uses electromagnetic (EM) radiation pulses to locate and map embedded objects. Commercial GPR instruments are generally geared toward producing images showing the location and extent of buried objects, and often do not make full use of available absolute amplitude information. At the Center for Nondestructive Evaluation (CNDE) at Iowa State University efforts are underway to develop a more quantitative approach to GPR inspections in which absolute amplitudes and spectra of measured signals play a key role. Guided by analogous work in ultrasonic inspection, there are three main thrusts to the effort. These focus, respectively, on the development of tools for: (1) analyzing raw GPR data; (2) measuring the EM properties of soils and other embedding media; and (3) simulating GPR inspections. This paper reviews progress in each category. The ultimate goal of the work is to develop model-based simulation tools that can be used assess the usefulness of GPR for a given inspection scenario, to optimize inspection choices, and to determine inspection reliability.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

NASA NTRS2017

Map Projection Induced Variations in Locations of Polygon Geofence Edges

This Paper under-estimates answers to the following question under various constraints: If a geofencing algorithm uses a map projection to determine whether a position is inside/outside a polygon region, how far outside/inside the polygon can the point be and the algorithm determine that it is inside/outside (the opposite and therefore incorrect answer)? Geofencing systems for unmanned aircraft systems (UAS) often model stay-in and stay-out regions using 2D polygons with minimum and maximum altitudes. The vertices of the polygons are typically input as latitude-longitude pairs, and the edges as paths between adjacent vertices. There are numerous ways to generate these paths, resulting in numerous potential locations for the edges of stay-in and stay-out regions. These paths may be geodesics on a spherical model of the earth or geodesics on the WGS84 reference ellipsoid. In geofencing applications that use map projections, these paths are inverse images of straight lines in the projected plane. This projected plane may be a projection of a spherical earth model onto a tangent plane, called an orthographic projection. Alternatively, it may be a projection where the straight lines in the projected plane correspond to straight lines in the latitudelongitude coordinate system, also called a Plate Carr´ee projection. This paper estimates distances between different edge paths and an oracle path, which is a geodesic on either the spherical earth or the WGS84 ellipsoidal earth. This paper therefore estimates how far apart different edge paths can be rather than comparing their path lengths, which are not considered. Rather, the comparision is between the actual locations of the edges between vertices. For edges drawn using orthographic projections, this maximum distance increases as the distance from the polygon vertices to the projection point increases. For edges drawn using Plate Carr´ee projections, this maximum distance increases as the vertices become further from the equator. Distances between geodesics on a spherical earth and a WGS84 ellipsoidal earth are also analyzed, using the WGS84 ellipsoid as the oracle. Bounds on the 2D distance between a straight line and a great circle path, in an orthographically projected plane rather than on the surface of the earth, have been formally verified in the PVS theorem prover, meaning that they are mathematically correct in the absence of floating point errors.

Neeley, Paula↗