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An algorithm is described which will form an edge image by detecting the edges of features in a particular spectral band of a digital satellite image. It is capable also of forming composite multispectral edge images. In addition, an edge image correlation algorithm is presented which performs rapid automatic registration of the edge images and, consequently, the grey level images.
Robotic vision, involving the use of a vision system to control a process, is discussed. Design and selection of active sensors employing radiation of radio waves, sound waves, and laser light, respectively, to light up unobservable features in the scene are considered, as are design and selection of passive sensors, which rely on external sources of illumination. The segmentation technique by which an image is separated into different collections of contiguous picture elements having such common characteristics as color, brightness, or texture is examined, with emphasis on the edge detection technique. The IMFEX (image feature extractor) system performing edge detection and thresholding at 30 frames/sec television frame rates is described. The template matching and discrimination approach to recognize objects are noted. Applications of robotic vision in industry for tasks too monotonous or too dangerous for the workers are mentioned.
The author has identified the following significant results. Initial development of a computer program which implements a boundary detection algorithm to detect edges in digital images is described. An evaluation of the boundary detection algorithm was conducted to locate boundaries of lakes from LANDSAT-1 imagery. The accuracy of the boundary detection algorithm was determined by comparing the area within boundaries of lakes located using digitized LANDSAT imagery with the area of the same lakes planimetered from imagery collected from an aircraft platform.
The following techniques are considered for classifying low resolution satellite imagery: (1) Gradient operations; (2) histogram methods; (3) gray level detection; (4) frequency domain operations; (5) Hadamard transform in digital image matching; and (6) edge and line detection schemes.
The article discusses the orientational biases of various edge detection methods. On the basis of ERTS satellite images, three methods are compared: (1) Heuckel's local visual operator (1973), (2) Macleod's Gaussian edge mask detector (1972), and (3) Rosenfeld's local difference calculations (1971). The results yielded by these techniques are compared to the method for quantifying edge detector performance developed by Herskovits (1970).
A technique for the quantitative evaluation of edge detection schemes is presented. It is used to assess the performance of three such schemes using a specially-generated set of images containing noise. The ability of human subjects to distinguish the edges in the presence of noise is also measured and compared with that of the edge detection schemes. The edge detection schemes are used on a high-resolution satellite photograph with varying degrees of noise added in order to relate the quantitative comparison to real-life imagery.
The use of a telescope in space to detect planets outside the solar system by means of imaging at optical wavelengths is discussed. If the 'black' limb of the moon is utilized as an occulting edge, a hypothetical Jupiter-Sun system could be detected at a distance as great as 10 pc, and a signal-to-noise ratio of 9 could be achieved in less than 20 min with a 2.4 m telescope in space. An orbit for the telescope is proposed; this orbit could achieve a stationary lunar occultation of any star for a period of nearly two hours.
A picture digitization grid based on logarithmic spirals rather than Cartesian coordinates is presented. Expressing this curvilinear grid as a conformal exponential mapping reveals useful image processing properties. The mapping induces a computational simplification that suggests parallel architectures in which most geometric transformations are effected by data shifting in memory rather than arithmetic on coordinates. These include fast, parallel noise-free rotation, scaling, and some projective transformations of pixel defined images. Conformality of the mapping preserves local picture-processing operations such as edge detection.
A solution to the problem of automatic location of objects in digital pictures by computer is presented. A self-scaling local edge detector which can be applied in parallel on a picture is described. Clustering algorithms and boundary following algorithms which are sequential in nature process the edge data to locate images of objects.
A system that detects object outlines in television images in real time is described. A high-speed pipeline processor transforms the raw image into an edge map and a microprocessor, which is integrated into the system, clusters the edges, and represents them as chain codes. Image statistics, useful for higher level tasks such as pattern recognition, are computed by the microprocessor. Peak intensity and peak gradient values are extracted within a programmable window and are used for iris and focus control. The algorithms implemented in hardware and the pipeline processor architecture are described. The strategy for partitioning functions in the pipeline was chosen to make the implementation modular. The microprocessor interface allows flexible and adaptive control of the feature extraction process. The software algorithms for clustering edge segments, creating chain codes, and computing image statistics are also discussed. A strategy for real time image analysis that uses this system is given.
In 1974 a circular-shaped iron oxide anomaly was observed in an image of a LANDSAT frame centered near Truth or Consequences, New Mexico. Field examination of the anomaly has shown that it coincides with a zone of hydrothermal alteration on the northern edge of the Nogal Canyon Cauldron. The altered area contains clay minerals ranging in colors from white to vivid red, the latter presumably resulting from hematite staining. In situ gas measurements showed no evidence of active hydrogen sulfide seepage. Preliminary geochemical analyses of grab samples have detected no significant amounts of mineralization. Whereas this area does not at present appear to be economically important, it provides an example of how LANDSAT can be utilized in reconnaissance mapping for cauldrons, calderas, and other volcanic features which display hydrothermal alteration.
Wildfire response depends on how fast an ignition can be confirmed and located, especially in remote regions where ground-based communication and monitoring may be limited. Geostationary sensors provide frequent observations but at kilometer-scale resolution, which is too coarse to resolve small fires in remote terrain. Ground camera networks require sightlines and infrastructure that back-country areas lack. To address these limitations, this work proposes a Multi-Tier Autonomous Wildfire Intelligence System that combines wide-area monitoring with targeted, high-resolution sensing. A solar-powered high-altitude long endurance (HALE) platform operating at approximately 60,000 ft provides persistent wide-area thermal and optical surveillance, running onboard edge inference to screen candidate ignitions and reduce false positives and downlink bandwidth. When a candidate ignition is detected, low-altitude uncrewed aircraft systems (UAS) can be deployed to conduct localized observations, including high-resolution imaging and atmospheric measurements such as wind and plume observation. By combining persistent detection with local sensing, the proposed architecture is designed to provide first responders with timely, high-resolution information about fire location and behavior to aid in emergency decision making.
The Veterans Administration Hospital used computer image-processing techniques to detect arteriosclerosis. Originally developed by Goddard Space Flight Center engineers to enhance spacecraft pictures, this device replaced the previous testing for this disease which was extremely painful and time consuming. With this instrument, computer detected edges are shown along with an estimate of location of pre-arteriosclerosis vessel wall. The difference between the two represents the relative amount of disease in the blood vessel. Instrumentation will be expanded again in 1976 to analyze the coronary arteries and the blood vessels of the retina.
A versatile photon and charged particle imaging system is described. The Ranicon employs a microchannel electron multiplier plate to convert each detected event into a charge signal. This charge pulse is proximity-focused onto a large-area resistive anode plate equipped with pickup electrodes on its edges. Each event is located electronically by the ratios of the charges collected at the edges or by the differences of the signals' risetimes. One- or two-dimensional pictures are built up by storing events digitally (e.g., a core memory) or in analog form (e.g., a storage oscilloscope). Compact laboratory models have been constructed and tested. Operating characteristics, applications, limitations, and advantages of the Ranicon are discussed.
A simple visual test for the evaluation of concave diffraction gratings is described. It is twice as sensitive as the Foucault knife edge test, from which it is derived, and has the advantage that the images are straight and free of astigmatism. It is particularly useful for grating with high ruling frequency where the above image faults limit the utility of the Foucault test. The test can be interpreted quantitatively and can detect zonal grating space errors of as little as 0.1 A.
The principal barrier to routine use of the ERTS multispectral scanner computer compatible tapes, rather than photointerpretation examination of the images, has been the high computing costs involved due to the large quantity of information (4 Mbytes) contained in a scene. STANSORT, the interactive program package developed at Stanford Remote Sensing Laboratories alleviates this problem, providing an extremely rapid, flexible and low cost tool for data reduction, scene classification, species searches and edge detection. The primary classification procedure, utilizing a search with variable gate widths, for similarities in the normalized, digitized spectra is described along with associated procedures for data refinement and extraction of information. The more rigorous statistical classification procedures are also explained.
The Western Edge of the Sub-tropical Convergence of the South-western Atlantic Ocean, called the Front, which is a thermal discontinuity between the Brazil and Falkland Currents, was studied utilizing the Temperature Humidity Infrared Radiometer (THIR) of Nimbus V in the 10.5 to 12.5 micrometers channel and historical oceanographic data. Some important results obtained are: the oceanographic Front could be detected from Nimbus THIR data; oceanographic charts showed that the transition zone where the Brazil and the Falkland Currents meet was the Front detected from satellite data; ocean current speeds calculated with THIR data were of the same order of magnitude as those calculated oceanographically; fisheries statistics for Pargo Roseo showed that the maximum catches were in September of 1973, in the period when the Front was observed most distinctly and clearly. The results showed the great potentiality of satellite data to study surface thermal structures, surface currents and oceanic fisheries.
Components of an integrated system having all functions for model preparation and generation, image computation and scene generation, and collision detection and reporting for the visual simulation of space shuttle maneuvers and its interaction with the manipular arm and other objects, as well as during earth landing exercises are described. High surface solution by range priority allows for correct views of dynamically moving objects from any viewpoint. Smooth shading, anti-aliasing and edge smoothing techniques provide a high quality picture. The collision detection system allows for simulation of impenetrable objects and docking maneuvers, and the modeling systems permit production of new data bases for desired simulations.