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NASA NTRS1992

Application of left- and right-looking SAR stereo to depth measurements of the Ammavaru outflow channel, Lada Terra, Venus

Venusian channels are too narrow to be resolved by Magellan's radar altimeter, so they are not visible in the standard topographic data products. Stereo image data, in addition to their benefit to geologic mapping of Venus structures as a whole, are indispensible in measuring the topography across the channels. These measurements can then be used in conjunction with the regional topographic maps based on the altimeter data to produce cross-sectional areas for the channels and estimate the fluid discharge through them. As an example of the application of the stereo image data to venusian channels, a number of test depth and profile measurements were made of the large outflow channel system in Lada Terra, centered at 50 deg S latitude, 21 deg E longitude (F-MIDR 50S021). These measurements were made by viewing the cycle 1 and 2 digital FMIDRs in stereo on a display monitor, so as to minimize the errors in measuring parallax displacement as much as possible. The MIDRs are produced at a scale of 75 m/pixel. This corresponds to a vertical scale of about 17 m/pixel, when calculating the height of a feature from its parallax displacement. An error in placement determination of 1 pixel was assumed to characterize the vertical accuracy as plus or minus 17 m. When this technique was applied to the outflow channel, it was noted that the walls of the collapsed terrain source and 'trough reach' of the channel are laid over in both the cycle 1 and 2 images. This is evident when examining the distance between features on the plateau and the cliff walls in the two images. The layover 'shifts' the features closer to the apparent edge of the wall relative to the oppositely illuminated image.

Parker, T. J.↗

NASA NTRS1992

Topography from shading and stereo

Methods exploiting photometric information in images that have been developed in machine vision can be applied to planetary imagery. Present techniques, however, focus on one visual cue, such as shading or binocular stereo, and produce results that are either not very accurate in an absolute sense or provide information only at few points on the surface. We plan to integrate shape from shading, binocular stereo and photometric stereo to yield a robust system for recovering detailed surface shape and surface reflectance information. Such a system will be useful in producing quantitative information from the vast volume of imagery being received, as well as in helping visualize the underlying surface. The work will be carried out on a popular computing platform so that it will be easily accessible to other workers.

Horn, Berthold P.↗

NASA NTRS1991

Stereo vision for planetary rovers - Stochastic modeling to near real-time implementation

JPL has achieved the first autonomous cross-country robotic traverses to use stereo vision, with all computing onboard the vehicle. This paper describes the stereo vision system, including the underlying statistical model and the details of the implementation. It is argued that the overall approach provides a unifying paradigm for practical domain-independent stereo ranging.

Matthies, Larry↗

NASA NTRS1993

The High Resolution Stereo Camera (HRSC) for the Lunar Scout 1 Mission

The High Resolution Stereo Camera (HRSC) is a planetary imaging system developed by the German Aerospace Research Establishment (DLR) with the involvement of the German Space Industry under the leadership of the German Space Agency (DARA) for the Russian Mars 94 and Mars 96 missions. The same instrument, virtually unmodified, is ideal for imaging the Moon. If flown on a Lunar Scout spacecraft, the HRSC will be operated so that it will produce data suitable for generation of a global lunar geodetic net, a global stereo image data set (both data sets produced at an orbit altitude of 200 kms approximately) and high resolution stereo imagery of areas of interest to the scientific community from an orbit altitude of 100 kms (resolution is a function of orbit altitude). All data will be digital.

Neukum, G.↗

NASA NTRS1993

Parallel algorithm for dominant points correspondences in robot binocular stereo vision

This paper presents an algorithm to find the correspondences of points representing dominant feature in robot stereo vision. The algorithm consists of two main steps: dominant point extraction and dominant point matching. In the feature extraction phase, the algorithm utilizes the widely used Moravec Interest Operator and two other operators: the Prewitt Operator and a new operator called Gradient Angle Variance Operator. The Interest Operator in the Moravec algorithm was used to exclude featureless areas and simple edges which are oriented in the vertical, horizontal, and two diagonals. It was incorrectly detecting points on edges which are not on the four main directions (vertical, horizontal, and two diagonals). The new algorithm uses the Prewitt operator to exclude featureless areas, so that the Interest Operator is applied only on the edges to exclude simple edges and to leave interesting points. This modification speeds-up the extraction process by approximately 5 times. The Gradient Angle Variance (GAV), an operator which calculates the variance of the gradient angle in a window around the point under concern, is then applied on the interesting points to exclude the redundant ones and leave the actual dominant ones. The matching phase is performed after the extraction of the dominant points in both stereo images. The matching starts with dominant points in the left image and does a local search, looking for corresponding dominant points in the right image. The search is geometrically constrained the epipolar line of the parallel-axes stereo geometry and the maximum disparity of the application environment. If one dominant point in the right image lies in the search areas, then it is the corresponding point of the reference dominant point in the left image. A parameter provided by the GAV is thresholded and used as a rough similarity measure to select the corresponding dominant point if there is more than one point the search area. The correlation is used as a final decision tool when there is still more than one point in the search area. If there is no dominant point in the search area of if the points in the search area are below a correlation threshold, then the dominant point in the reference image is occluded and can not be corresponded. The algorithm has been modeled, implemented and shown to be fast, robust and parallel. The parallelism is created from three main features: locality of the operators; a memory optimization scheme; and the ability to fully parallelize the extraction phase which is the most computational intensive task in the algorithm. The last feature is achieved by performing the extraction phase on the two images simultaneously.

Al-Tammami, A.↗

NASA NTRS1992

On line quantification of crystal surfaces by stereo imaging

The shape of an interface while a crystal is growing inside a crystal growth furnace is an important measurement to assess the crystal quality on-line. If the crystal surface can be visualized by video or x ray imaging, the interface shape can be determined by the stereo image processing techniques. This paper presents a methodology to determine the shape of the solid-melt interface by stereo based imaging techniques while the crystal is growing inside a transparent furnace. The methodology generates qualitative shape information provided that a good pair of stereo images of the interface can be captured. For a quantitative shape description, i.e., for the determination of interface points with respect to a fixed coordinate frame, both cameras must be calibrated. This paper illustrates the methodology for qualitative shape determination of lead bromide crystal interface.

Batur, Celal↗

NASA NTRS1993

Topography from shading and stereo

Horn, Berthold P.↗

NASA NTRS1998

Stereo-Video Data Reduction of Wake Vortices and Trailing Aircrafts

This report presents stereo image theory and the corresponding image processing software developed to analyze stereo imaging data acquired for the wake-vortex hazard flight experiment conducted at NASA Langley Research Center. In this experiment, a leading Lockheed C-130 was equipped with wing-tip smokers to visualize its wing vortices, while a trailing Boeing 737 flew into the wake vortices of the leading airplane. A Rockwell OV-10A airplane, fitted with video cameras under its wings, flew at 400 to 1000 feet above and parallel to the wakes, and photographed the wake interception process for the purpose of determining the three-dimensional location of the trailing aircraft relative to the wake. The report establishes the image-processing tools developed to analyze the video flight-test data, identifies sources of potential inaccuracies, and assesses the quality of the resultant set of stereo data reduction.

Alter-Gartenberg, Rachel↗

NASA NTRS1998

Report on New Mission Concept Study: Stereo X-Ray Corona Imager Mission

Studies of the three-dimensional structure and dynamics of the solar corona have been severely limited by the constraint of single viewpoint observations. The Stereo X-Ray Coronal Imager (SXCI) mission will send a single instrument, an X-ray telescope, into deep space expressly to record stereoscopic images of the solar corona. The SXCI spacecraft will be inserted into a approximately 1 AU heliocentric orbit leading Earth by approximately 25 deg at the end of nine months. The SXCI X-ray telescope forms one element of a stereo pair, the second element being an identical X-ray telescope in Earth orbit placed there as part of the NOAA GOES program. X-ray emission is a powerful diagnostic of the corona and its magnetic fields, and three dimensional information on the coronal magnetic structure would be obtained by combining the data from the two X-ray telescopes. This information can be used to address the major solar physics questions of (1) what causes explosive coronal events such as coronal mass ejections (CMEs), eruptive flares and prominence eruptions and (2) what causes the transient heating of coronal loops. Stereoscopic views of the optically thin corona will resolve some ambiguities inherent in single line-of-sight observations. Triangulation gives 3D solar coordinates of features which can be seen in the simultaneous images from both telescopes. As part of this study, tools were developed for determining the 3D geometry of coronal features using triangulation. Advanced technologies for visualization and analysis of stereo images were tested. Results of mission and spacecraft studies are also reported.

Liewer, Paulett C.↗

NASA NTRS2000

Simulated Active Region Emission and Dynamics: A STEREO Perspective

We present detailed three-dimensional simulations of active regions resulting from numerical models of sunspots coupled to coronal excitation and emission. The models incorporate a fully three-dimensional magnetoconvection calculation, described in a poster by Hurlburt and Rucklidge, potential field extrapolations from the sunspot model boundary conditions, steady-state coronal loops powered by the convective motions at the surface, EUV and X-ray instrument response functions, and a full voxel rendering. The result is a simulated dynamical active region in three dimensions which enables us to explore coronal heating and its relationship to the dynamics of the photosphere and convection zone. The 3D rendering of the resulting EUV emission allows us to investigate the expected coronal signatures of the EUVI instruments on board the twin STEREO spacecraft to be launched in 2004. The hybrid model developed here also provides a simulation testbed for the development of future STEREO image reconstruction tools: an integral component in the access to STEREO data by the solar physics community.

Alexander, David↗

NASA NTRS2002

The 3D Heliosphere: What Can We Learn from STEREO?

Many techniques have been used to study the 3D heliosphere, with the earliest probably being the analysis of comet tails. I will list most of these and mention a few, focusing on existing multi-point studies. The result, from more than 50 years of study, Is that a lot is known. This has led to a good picture of the quasi-steady heliosphere and its relation to the 3D Corona. But, there are also some large gaps and STEREO is designed to address one of these: the timing, size, geometry, mass, speed, direction, and 3D propagation of Corona[ mass ejections (CMEs). In spite of the statistical analysis of a large data archive, Imaginative use of in situ and remote measurements, and extensive modeling, these properties of CMES are poorly known. I will outline an example of how STEREO instruments might work together to develop a far better 30 description of CMEs In the 3D heliosphere and note that other examples are described in the Science Definition Team report and in the Science Objectives given by the four instrument teams. Since the two STEREO spacecraft are not intended to work in isolation, I will also outline how they might be used In combination With ground-based and other spacecraft observations.

Suess, S. T.↗

NASA NTRS1998

Graphics for Stereo Visualization Theater for Supercomputing 1998

The Stereo Visualization Theater is a high-resolution graphics demonstration that prides a review of current research being performed at NASA. Using a stereoscopic projection, multiple participants can explore scientific data in new ways. The pre-processed audio and video are being played in real-time off of a workstation. A stereo graphics filter for the projector and passive polarized glasses worn by audience members are used to create the stereo effect.

Antipuesto, Joel↗

NASA NTRS2003

Optical Depth Retrievals from HRSC Stereo Images

Mars Express is due to arrive in orbit around Mars during the last days of 2003. A primary task of its mission is to map Mars in stereo with the High Resolution Stereo Camera (HRSC) at a spatial resolution of up to 12 m. The Martian atmosphere contains large amounts of dust and other aerosols that scatter light and influence the images. Therefore, image analysis requires careful consideration of these atmospheric effects. An essential parameter to consider is the optical depth. It will be possible to map the optical depth of the Martian atmosphere from HRSC stereo images by analyzing contrast differences. Software to this purpose has been developed at the Max-Planck Institute for Aeronomy in Lindau Germany. We present examples of optical depth-retrievals from airborne HRSC-A images of a region in the French Alps.

N M Hoekzema↗

NASA NTRS2003

Solar Terrestrial Relations Observatory (STEREO)

The solar magnetic field is constantly generated beneath the surface of the Sun by the solar dynamo. To balance this flux generation, there is constant dissipation of magnetic flux at and above the solar surface. The largest phenomenon associated with this dissipation is the Coronal Mass Ejection (CME). The Solar and Heliospheric Observatory (SOHO) has provided remarkable views of the corona and CMEs, and served to highlight how these large interplanetary disturbances can have terrestrial consequences. STEREO is the next logical step to study the physics of CME origin, propagation, and terrestrial effects. Two spacecraft with identical instrument complements will be launched on a single launch vehicle in November 2007. One spacecraft will drift ahead and the second behind the Earth at a separation rate of 22 degrees per year. Observation from these two vantage points will for the first time allow the observation of the three-dimensional structure of CMEs and the coronal structures where they originate. Each STEREO spacecraft carries a complement of 10 instruments, which include (for the first time) an extensive set of both remote sensing and in-situ instruments. The remote sensing suite is capable of imaging CMEs from the solar surface out to beyond Earth's orbit (1 AU), and in-situ instruments are able to measure distribution functions for electrons, protons, and ions over a broad energy range, from the normal thermal solar wind plasma to the most energetic solar particles. It is anticipated that these studies will ultimately lead to an increased understanding of the CME process and provide unique observations of the flow of energy from the corona to the near-Earth environment. An international research program, the International Heliophysical Year (IHY) will provide a framework for interpreting STEREO data in the context of global processes in the Sun-Earth system.

Davila, Joseph M.↗

NASA NTRS2002

Stereo transparency and the disparity gradient limit

Several studies (Vision Research 15 (1975) 583; Perception 9 (1980) 671) have shown that binocular fusion is limited by the disparity gradient (disparity/distance) separating image points, rather than by their absolute disparity values. Points separated by a gradient >1 appear diplopic. These results are sometimes interpreted as a constraint on human stereo matching, rather than a constraint on fusion. Here we have used psychophysical measurements on stereo transparency to show that human stereo matching is not constrained by a gradient of 1. We created transparent surfaces composed of many pairs of dots, in which each member of a pair was assigned a disparity equal and opposite to the disparity of the other member. For example, each pair could be composed of one dot with a crossed disparity of 6' and the other with uncrossed disparity of 6', vertically separated by a parametrically varied distance. When the vertical separation between the paired dots was small, the disparity gradient for each pair was very steep. Nevertheless, these opponent-disparity dot pairs produced a striking appearance of two transparent surfaces for disparity gradients ranging between 0.5 and 3. The apparent depth separating the two transparent planes was correctly matched to an equivalent disparity defined by two opaque surfaces. A test target presented between the two transparent planes was easily detected, indicating robust segregation of the disparities associated with the paired dots into two transparent surfaces with few mismatches in the target plane. Our simulations using the Tsai-Victor model show that the response profiles produced by scaled disparity-energy mechanisms can account for many of our results on the transparency generated by steep gradients.

NASA Discipline Space Human Factors↗

NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

NASA NTRS2007

A Scanning Hartmann Focus Test for the EUVI Telescopes aboard STEREO

The Solar TErrestrial RElations Observatory (STEREO), the third mission in NASA s Solar Terrestrial Probes program, was launched in 2006 on a two year mission to study solar phenomena like coronal mass ejections. STEREO consists of two nearly identical satellites, each carrying a suite of instruments that provide, among other data, simultaneous images of the Sun. One of these telescopes is the Extreme Ultraviolet Instrument (EUVI). There are two EUVI telescopes, one on each STEREO satellite (EUVI-A and EUVI-B). EUVI is a normal incidence, 98mm diameter, Ritchey-Chretien telescope designed to obtain wide field of view (approx.1deg) images of the Sun at short wavelengths (approx.20nm) using a CCD detector. The telescope entrance aperture is divided into four quadrants by a mask near the secondary mirror spider veins. A mechanism that rotates another mask allows only one of these sub-apertures to accept light from the Sun during an observation. The EUVI is thus four co-aligned, off-axis telescopes. Each off-axis segment on the primary and secondary mirrors has a different extreme ultraviolet coating stack. Furthermore, the aperture select mechanism is synchronized with a filter wheel mechanism near the CCD detector. The EUVI contains no focus mechanism. Models predict that the difference in on-orbit operating temperature and ambient clean room conditions yield a "best focus" difference between integration and operation of approx. 0.2mm.

Ohl, R.↗