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Electronic additions increase image quality. Digital image-processing equipment electronically performs functions of S1 and D2 improving resolution and adding capability for image storage and further processing. System useful in nuclear medicine or radioisotope imaging, tomography and nuclear industry.
In imaging applications, such as X-ray radiography, the experimental system setup and data capture process introduce system blur and distortion. In images taken with thick scintillators, a spatially varying system blur is observed, requiring a nonstandard approach to blur and distortion estimation and removal. We demonstrate an approach to estimation of local point spread functions using checkerboard radiographs collected at the Naval Research Laboratory and extend that into a map defining the kernel over the camera field of view.
Inherent geographical hazards of Martian terrain may impede a safe landing for science exploration spacecraft. Surface visualization software for hazard detection and avoidance may accordingly be applied in vehicles such as the Mars Exploration Rover (MER) to induce an autonomous and intelligent descent upon entering the planetary atmosphere. The focus of this project is to develop an image transformation algorithm for coordinate system matching between consecutive frames of terrain imagery taken throughout descent. The methodology involves integrating computer vision and graphics techniques, including affine transformation and projective geometry of an object, with the intrinsic parameters governing spacecraft dynamic motion and camera calibration.
Data collection using unsteady pressure-sensitive paint (uPSP) has been greatly increased in recent large-scale demonstrations. With this significant increase comes challenges to process this magnitude of data. Techniques designed for several thousands of images collected in a lab do not necessarily scale to millions collected in a production-level system. Novel techniques are needed to meet the tighter requirements imposed on computation time, robustness, and accuracy. This paper outlines a number of such techniques and improvements in regards to the camera calibration process.
This paper reviews the currently planned Altair Optical Navigation (OpNav) system. The discussion includes description of the OpNav camera manifest. The Altair OpNav plan envisions one, OpNav camera assembly, with perhaps a functional backup that includes a wide angle-imager (of 40 deg to 60 deg field of view - FOV), and a narrow angle imager (of 1 to 3 deg FOV) co-mounted on a 2-degree-of-freedom gimbal. Both imagers are assumed to be relatively wide aperture and large dynamic range to provide excellent short-exposure images at mid-latitudes, and adequate images of longer-exposure near the poles. Landmark modeling and tracking methodology is discussed, including the stereophotoclinometry method assumed to be used to obtain high-accuracy terrain maps at lunar landing sites of 1 - 2 m, and 50 - 100 m elsewhere, using the images expected to be obtained from the Lunar Reconnaissance Orbiter (LRO). Characteristics of the OpNav navigation system are discussed and architecture and results from landing simulations presented, showing expected landing accuracies of better than 10m.
An optical neural network architecture and algorithm based on a Hopfield optimization network are presented for multitarget tracking. This tracker utilizes a neuron for every possible target track, and a quadratic energy function of neural activities which is minimized using gradient descent neural evolution. The neural net tracker is demonstrated as part of a system for determining position and orientation (pose) of spinning satellites with respect to a robotic spacecraft. The input to the system is time sequence video from a single camera. Novelty detection and filtering are utilized to locate and segment novel regions from the input images. The neural net multitarget tracker determines the correspondences (or tracks) of the novel regions as a function of time, and hence the paths of object (satellite) parts. The path traced out by a given part or region is approximately elliptical in image space, and the position, shape and orientation of the ellipse are functions of the satellite geometry and its pose. Having a geometric model of the satellite, and the elliptical path of a part in image space, the three-dimensional pose of the satellite is determined. Digital simulation results using this algorithm are presented for various satellite poses and lighting conditions.
The effort is divided into instrumentation and observational research. In the area of instrumentation, the primary objective is the maintenance and slow improvement of the CCD camera and data acquisition system for continuing use of any interested LPL user. The main goal of the observational research is CCD spectroscopic and imaging studies of the solar system in support of spacecraft investigations. The studies include the physical behavior of comets, the atmospheres of the gaseous planets, and the solid surfaces of satellites and asteroids.
We here propose a segmentation algorithm of texture image for a computer vision system on a space robot. An improved adaptive resonance theory (ART2) for analog input patterns is adapted to classify the image based on a set of texture image features extracted by a fast spatial gray level dependence method (SGLDM). The nonlinear thresholding functions in input layer of the neural network have been constructed by two parts: firstly, to reduce the effects of image noises on the features, a set of sigmoid functions is chosen depending on the types of the feature; secondly, to enhance the contrast of the features, we adopt fuzzy mapping functions. The cluster number in output layer can be increased by an autogrowing mechanism constantly when a new pattern happens. Experimental results and original or segmented pictures are shown, including the comparison between this approach and K-means algorithm. The system written in C language is performed on a SUN-4/330 sparc-station with an image board IT-150 and a CCD camera.
A field experiment to simulate a rover mission on Mars was performed using the Russian Marsokhod rover deployed on Kilauea Volcano HI in February, 1995. A Russian Marsokhod rover chassis was equipped with American avionics equipment, stereo cameras on a pan and tilt platform, a digital high resolution body-mounted camera, and a manipulator arm on which was mounted a camera with a close-up lens. The six wheeled rover is 2 meters long and has a mass of 120 kg. The imaging system was designed to simulate that used on the planned "Mars Together" mission. The rover was deployed on Kilauea Volcano HI and operated from NASA Ames by a team of planetary geologists and exobiologists. Two modes of mission operations were simulated for three days each: (1) long time delay, low data bandwidth (simulating a Mars mission), and (2) live video, wide-bandwidth data (allowing active control simulating a Lunar rover mission or a Mars rover mission controlled from on or near the Martian surface). Simulated descent images (aerial photographs) were used to plan traverses to address a detailed set of science questions. The actual route taken was determined by the science team and the traverse path was frequently changed in response to the data acquired and to unforeseen operational issues. Traverses were thereby optimized to efficiently answer scientific questions. During the Mars simulation, the rover traversed a distance of 800 m. Based on the time delay between Earth and Mars, we estimate that the same operation would have taken 30 days to perform on Mars. This paper will describe the mission simulation and make recommendations about incorporating rovers into the Mars surveyor program.
This slide presentation details the Mars Exploration Rover (MER) imaging system. Over 144,000 images have been gathered from all Mars Missions, with 83.5% of them being gathered by MER. Each Rover has 9 cameras (Navcam, front and rear Hazcam, Pancam, Microscopic Image, Descent Camera, Engineering Camera, Science Camera) and produces 1024 x 1024 (1 Megapixel) images in the same format. All onboard image processing code is implemented in flight software and includes extensive processing capabilities such as autoexposure, flat field correction, image orientation, thumbnail generation, subframing, and image compression. Ground image processing is done at the Jet Propulsion Laboratory's Multimission Image Processing Laboratory using Video Image Communication and Retrieval (VICAR) while stereo processing (left/right pairs) is provided for raw image, radiometric correction; solar energy maps,triangulation (Cartesian 3-spaces) and slope maps.
Topics covered include: Situational Awareness from a Low-Cost Camera System; Data Acquisition System for Multi-Frequency Radar Flight Operations Preparation; Mercury Toolset for Spatiotemporal Metadata; Social Tagging of Mission Data; Integrating Radar Image Data with Google Maps; Demonstration of a Submillimeter-Wave HEMT Oscillator Module at 330 GHz; Flexible Peripheral Component Interconnect Input/Output Card; Interface Supports Lightweight Subsystem Routing for Flight Applications; MMIC Amplifiers and Wafer Probes for 350 to 500 GHz; Public Risk Assessment Program; Particle Swarm Optimization Toolbox; Telescience Support Center Data System Software; Update on PISCES; Ground and Space Radar Volume Matching and Comparison Software; Web-Based Interface for Command and Control of Network Sensors; Orbit Determination Toolbox; Distributed Observer Network; Computer-Automated Evolution of Spacecraft X-Band Antennas; Practical Loop-Shaping Design of Feedback Control Systems; Fully Printed High-Frequency Phased-Array Antenna on Flexible Substrate; Formula for the Removal and Remediation of Polychlorinated Biphenyls in Painted Structures; Integrated Solar Concentrator and Shielded Radiator; Water Membrane Evaporator; Modeling of Failure for Analysis of Triaxial Braided Carbon Fiber Composites; Catalyst for Carbon Monoxide Oxidation; Titanium Hydroxide - a Volatile Species at High Temperature; Selective Functionalization of Carbon Nanotubes: Part II; Steerable Hopping Six-Legged Robot; Launchable and Retrievable Tetherobot; Hybrid Heat Exchangers; Orbital Winch for High-Strength, Space-Survivable Tethers; Parameterized Linear Longitudinal Airship Model; and Physics of Life: A Model for Non-Newtonian Properties of Living Systems.
This contribution is submitted on behalf of all students, postdocs, and staff inspired and supported by Tom Phillips to build an instrument and then wait for low precipitable water vapor. Over the 20 plus years of its existence, the Caltech Submillimeter Observatory (CSO) has seen a succession of ever more powerful detectors to measure continuum emission in the shortest submillimeter bands available from Mauna Kea. These instruments have been trained on the nearest solar systems, the most distant galaxies, and objects in between. I show several images collected over the 5 plus year history of the SHARC II camera and anecdotal comparison with past work.
We have obtained spectra of the Pluto-Charon pair (unresolved) in the wavelength range 380-930 nm with resolution approx..450 at six roughly equally spaced longitudes. The data were taken in May and June, 2014, with the 4.2-m Isaac Newton Telescope at Roque de Los Muchachos Observatory in the Canary Islands, using the ACAM (auxiliary-port camera) in spectrometer mode, and using two solar analog stars. The new spectra clearly show absorption bands of solid CH4 at 620, 728, and 850-910 nm, which were known from earlier work. The 620-nm CH4 band is intrinsically very weak, and its appearance indicates a long optical path-length through the ice. This is especially true if it arises from CH4 dissolved in N2 ice. Earlier work (Owen et al. Science 261, 745, 1993) on the near-infrared spectrum of Pluto (1-2.5 microns) has shown that the CH4 bands are shifted to shorter wavelengths because the CH4 occurs as a solute in beta-phase crystalline N2. The optical path-length through the N2 crystals must be on the order of several cm to produce the N2 band observed at 2.15 microns. The new spectra exhibit a pronounced red slope across the entire wavelength range; the slope is variable with longitude, and differs in a small but significant way from that measured at comparable longitudes by Grundy & Fink (Icarus 124, 329, 1996) in their 15-year study of Pluto's spectrum (500-1000 nm). The new spectra will provide an independent means for calibrating the color filter bands on the Multispectral Visible Imaging Camera (MVIC) (Reuter et al. Space Sci. Rev. 140, 129, 2008) on the New Horizons spacecraft, which will encounter the Pluto-Charon system in mid-2015. They will also form the basis of modeling the spectrum of Pluto at different longitudes to help establish the nature of the non-ice component(s) of Pluto's surface. It is presumed that the non-ice component is the source of the yellow-red coloration of Pluto, which is known to be variable across the surface.
It is important to find the target as soon as possible for search and rescue operations. Surveillance camera systems and unmanned aerial vehicles (UAVs) are used to support search and rescue. Automatic object detection is important because a person cannot monitor multiple surveillance screens simultaneously for 24 hours. Also, the object is often too small to be recognized by the human eye on the surveillance screen. This study used UAVs around the Port of Houston and fixed surveillance cameras to build an automatic target detection system that supports the US Coast Guard (USCG) to help find targets (e.g., person overboard). We combined image segmentation, enhancement, and convolution neural networks to reduce detection time to detect small targets. We compared the performance between the auto-detection system and the human eye. Our system detected the target within 8 seconds, but the human eye detected the target within 25 seconds. Our systems also used synthetic data generation and data augmentation techniques to improve target detection accuracy. This solution may help the search and rescue operations of the first responders in a timely manner.
The Earth Polychromatic Imaging Camera (EPIC) onboard the Deep Space Climate Observatory (DSCOVR) satellite orbiting the Sun at the Lagrange-1 point was launched without onboard calibration systems. Vicarious calibration is conducted for 8 of the 10 UV/VIS/NIR channels using other low earth orbiting satellite instruments, while its two O 2 bands (688 nm and 764nm) rely on indirect moon-view calibrations because the same narrow-band O 2 bands are not readily available from other in-flight instruments. This study compares EPIC measurements from the four O 2 bands aiming at examining sensor stability over a uniquely suited location, i.e., the permanently snow-covered South Pole. The study utilizes radiative transfer model simulations with in-situ atmospheric soundings taken at South Pole during months of December and January from 2015 to 2022. The absolute discrepancy between the model simulations and observations is less than 1.0% for the two reference bands, but 5.75% and 15.63% for the 688nm, and 764 nm absorption bands, respectively. The simulated A-band and B-band ratios are 16.09% and 4.74% higher than that from the observations. Various sensitivities are conducted to estimate possible contributions to the discrepancies from input atmospheric profiles, spectral surface albedos and surface BRDF. While none of the input uncertainties is likely to account for the large discrepancies in the oxygen absorption bands, a small shift in the instrument response function could be the main reason for these biases. On the other hand, the model simulations are able to capture systematic variations with observed angular measurements and explain the multi-year trends found in observed O 2 band ratios due to satellite orbit shifting. When model simulated contributions from the angle variations are deducted from the observed O 2 band ratios, the residual O 2 band ratios are found to be stable since 2015.
The Optical Deep-Space Instrument for Navigation (ODIN) is a proposed multiple camera, multiple field of view, optical navigation (OPNAV) instrument currently under development. ODIN aims to create a self-sufficient system which can perform imaging target acquisition, star field based attitude estimation, and position estimation using horizon-based OPNAV of known celestial bodies. ODIN will complete these tasks autonomously, thereby contributing to the advancement of OPNAV as an option for truly autonomous mission operations.
The Optical Deep-Space Instrument for Navigation (ODIN) is a proposed multiple camera, multiple field of view, optical navigation (OPNAV) instrument currently under development. ODIN aims to create a self-sufficient system which can perform imaging target acquisition, star field based attitude estimation, and position estimation using horizon-based OPNAV of known celestial bodies. ODIN will complete these tasks autonomously, thereby contributing to the advancement of OPNAV as an option for truly autonomous mission operations.
The 3GeV SPEAR3 synchrotron light source operates in top-up injection mode with up to 500mA circulating in the storage ring (equivalently 392nC). Each injection pulse contains only 40-80 pC producing a contrast ratio between total stored charge and injected charge of about 6500:1. In order to study transient injected beam dynamics during User operations, it is desirable to optically image the injected pulse in the presence of the bright stored beam. In the present work this is done by re-imaging visible synchrotron radiation onto a digital micro-mirror-array device (DMD), which is then used as an optical mask to block out light from the bright central core of the stored beam. The physical masking, together with an asynchronously-gated, ICCD imaging camera makes it is possible to observe the weak injected beam component on a turn-by-turn basis. The DMD optical masking system works similar to a classical solar coronagraph but has some distinct practical advantages: i.e. rapid adaption to changes in the shape of the stored beam, high extinction ratio for unwanted light and minimum scattering from the primary beam into the secondary optics. In this paper we describe the DMD masking method, features of the high dynamic range point spread function for the SPEAR3 optical beam line and measurements of the injected beam in the presence of the stored beam.