SEARCH · Search NASA
Results for “large terrain modeling”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Large Terrain Modeling and Visualization for Planets
Physics-based simulations are actively used in the design, testing, and operations phases of surface and near-surface planetary space missions. One of the challenges in realtime simulations is the ability to handle large multi-resolution terrain data sets within models as well as for visualization. In this paper, we describe special techniques that we have developed for visualization, paging, and data storage for dealing with these large data sets. The visualization technique uses a real-time GPU-based continuous level-of-detail technique that delivers multiple frames a second performance even for planetary scale terrain model sizes.
Large Terrain Modeling and Visualization for Planets
No abstract available
Numerical Simulation of Illumination and Thermal Conditions at the Lunar Poles Using LOLA DTMs
We are interested in illumination conditions and the temperature distribution within the upper two meters of regolith near the lunar poles. Here, areas exist receiving almost constant illumination near areas in permanent shadow, which were identified as potential exploration sites for future missions. For our study a numerical simulation of the illumination and thermal environment for lunar near-polar regions is needed. Our study is based on high-resolution, twenty meters per pixel and 400 x 400 km large polar Digital Terrain Models (DTMs), which were derived from Lunar Orbiter Laser Altimeter (LOLA) data. Illumination conditions were simulated by synthetically illuminating the LOLA DTMs using the horizon method considering the Sun as an extended source. We model polar illumination for the central 50 x 50 km subset and use it as an input at each time-step (2 h) to evaluate the heating of the lunar surface and subsequent conduction in the sub-surface. At surface level we balance the incoming insolation with the subsurface conduction and radiation into space, whereas in the sub-surface we consider conduction with an additional constant radiogenic heat source at the bottom of our two-meter layer. Density is modeled as depth-dependent, the specific heat parameter as temperature-dependent and the thermal conductivity as depth- and temperature-dependent. We implemented a fully implicit finite-volume method in space and backward Euler scheme in time to solve the one-dimensional heat equation at each pixel in our 50 x 50 km DTM. Due to the non-linear dependencies of the parameters mentioned above, Newton's method is employed as the non-linear solver together with the Gauss-Seidel method as the iterative linear solver in each Newton iteration. The software is written in OpenCL and runs in parallel on the GPU cores, which allows for fast computation of large areas and long time scales.
Planetary Rover Simulation for Lunar Exploration Missions
When planning planetary rover missions it is useful to develop intuition and skills driving in, quite literally, alien environments before incurring the cost of reaching said locales. Simulators make it possible to operate in environments that have the physical characteristics of target locations without the expense and overhead of extensive physical tests. To that end, NASA Ames and Open Robotics collaborated on a Lunar rover driving simulator based on the open source Gazebo simulation platform and leveraging ROS (Robotic Operating System) components. The simulator was integrated with research and mission software for rover driving, system monitoring, and science instrument simulation to constitute an end-to-end Lunar mission simulation capability. Although we expect our simulator to be applicable to arbitrary Lunar regions, we designed to a reference mission of prospecting in polar regions. The harsh lighting and low illumination angles at the Lunar poles combine with the unique reflectance properties of Lunar regolith to present a challenging visual environment for both human and computer perception. Our simulator placed an emphasis on high fidelity visual simulation in order to produce synthetic imagery suitable for evaluating human rover drivers with navigation tasks, as well as providing test data for computer vision software development.In this paper, we describe the software used to construct the simulated Lunar environment and the components of the driving simulation. Our synthetic terrain generation software artificially increases the resolution of Lunar digital elevation maps by fractal synthesis and inserts craters and rocks based on Lunar size-frequency distribution models. We describe the necessary enhancements to import large scale, high resolution terrains into Gazebo, as well as our approach to modeling the visual environment of the Lunar surface. An overview of the mission software system is provided, along with how ROS was used to emulate flight software components that had not been developed yet. Finally, we discuss the effect of using the high-fidelity synthetic Lunar images for visual odometry. We also characterize the wheel slip model, and find some inconsistencies in the produced wheel slip behaviour.
Model for optimal parallax in stereo radar imagery
Simulated stereo radar imagery is used to investigate parameters for a spaceborne imaging radar. Incidence angles ranging from small to intermediate to large are used with three digital terrain model areas which are representative of relatively flat, moderately rough, and mountaneous terrain. The simulated radar imagery was evaluated by interpreters for ease of stereo perception and information content, and rank ordered within each class of terrain. The interpreter's results are analyzed for trends between the height of a feature and either parallax or vertical exaggeration for a stereo pair. A model is developed which predicts the amount of parallax (or vertical exaggeration) an interpreter would desire for best stereo perception of a feature of a specific height. Results indicate the selection of angle of incidence and stereo intersection angle depend upon the relief of the terrain. Examples of the simulated stereo imagery are presented for a candidate spaceborne imaging radar having four selectable angles of incidence.
IRIS: High-fidelity Perception Sensor Modeling for Closed-Loop Planetary Simulations
Perception plays a key role in autonomous and semi-autonomous planetary exploration vehicles. For instance, landers can use computer vision techniques for identifying safe landing locations, aerial vehicles use cameras as navigation sensors, and planetary rovers use them for localization and hazard detection. Engineering simulations of such systems requires the accurate modeling of perception and vision sensors for simulating autonomy scenarios. In addition, the modeling of sensors for landers, aerial and ground vehicles requires the ability to handle large and high-resolution terrains, the accurate modeling of illumination, hi-fidelity rendering via ray/path tracing and the inclusion of sensor characteristics. Vision sensor models strive to simulate sensor reality by using physics principles to model the interaction of light and objects. Furthermore, high frame rate performance is highly desirable for in-the-loop simulations involving vehicle dynamics and control software. In this paper we describe a new sensor modeling capability called Inter-planetary Rendering for Imaging and Sensors (IRIS) that meets these requirements for the real-time and high-fidelity simulation of vision sensors for planetary aerospace and robotics applications.
An analysis of simulated stereo radar imagery
Simulated stereo radar imagery is used to investigate parameters for a spaceborne imaging radar. Incidence angles ranging from small to intermediate to large are used with three digital terrain model areas which are representative of relatively flat, moderately rough, and mountainous terrain. The simulated radar imagery was evaluated by interpreters for ease of stereo perception and information content, and rank order within each class of terrain. The interpreter's results are analyzed for trends between the height of a feature and either parallax or vertical exaggeration for a stereo pair. A model is developed which predicts the amount of parallax (or vertical exaggeration) an interpreter would desire for best stereo perception of a feature of a specific height. Results indicate the selection of angle of incidence and stereo intersection angle depend upon the relative relief of the terrain. Examples of the simulated stereo imagery are presented for a candidate spaceborne imaging radar having four selectable angles of incidence.
Quantifying Libya-4 Surface Reflectance Heterogeneity With WorldView-1, 2 and EO-1 Hyperion
The land surface imaging (LSI) virtual constellation approach promotes the concept of increasing Earth observations from multiple but disparate satellites. We evaluated this through spectral and spatial domains, by comparing surface reflectance from 30-m Hyperion and 2-m resolution WorldView-2 (WV-2) data in the Libya-4 pseudoinvariant calibration site. We convolved and resampled Hyperion to WV-2 bands using both cubic convolution and nearest neighbor (NN) interpolation. Additionally, WV-2 and WV-1 same-date imagery were processed as a cross-track stereo pair to generate a digital terrain model to evaluate the effects from large (>70 m) linear dunes. Agreement was moderate to low on dune peaks between WV-2 and Hyperion (R2 <; 0.4) but higher in areas of lower elevation and slope (R2 > 0.6). Our results provide a satellite sensor intercomparison protocol for an LSI virtual constellation at high spatial resolution, which should start with geolocation of pixels, followed by NN interpolation to avoid tall dunes that enhance surface reflectance differences across this internationally utilized site.
Zooming in: SCREAM at 100 m using regional refinement over the San Francisco Bay Area
Pushing global climate models to large-eddy simulation (LES) scales over complex terrain has remained a major challenge. This study presents the first known implementation of a global model – SCREAM (Simple Cloud-Resolving E3SM Atmosphere Model) – at 100 m horizontal resolution using a regionally refined mesh (RRM) over the San Francisco Bay Area. Two hindcast simulations were conducted to test performance under both strong synoptic forcing and weak, boundary-layer-driven conditions. We demonstrate that SCREAM can stably run at LES scales while realistically capturing topography, surface heterogeneity, and coastal processes. The 100 m SCREAM-RRM substantially improves near-surface wind speed, temperature, humidity, and pressure biases compared to the baseline 3.25 km simulation, and better reproduces fine-scale wind oscillations and boundary-layer structures. These advances leverage SCREAM's scale-aware SHOC turbulence parameterization, which transitions smoothly across scales without tuning. Performance tests show that while CPU-only simulations remain costly, GPU acceleration with SCREAMv1 on NERSC's Perlmutter system enables two-day hindcasts to complete in under two wall-clock days. Our results open the door to LES-scale studies of orographic flows, boundary-layer turbulence, and coastal clouds within a fully comprehensive global modeling framework.
Meteorological and air pollution modeling for an urban airport
Results are presented of numerical experiments modeling meteorology, multiple pollutant sources, and nonlinear photochemical reactions for the case of an airport in a large urban area with complex terrain. A planetary boundary-layer model which predicts the mixing depth and generates wind, moisture, and temperature fields was used; it utilizes only surface and synoptic boundary conditions as input data. A version of the Hecht-Seinfeld-Dodge chemical kinetics model is integrated with a new, rapid numerical technique; both the San Francisco Bay Area Air Quality Management District source inventory and the San Jose Airport aircraft inventory are utilized. The air quality model results are presented in contour plots; the combined results illustrate that the highly nonlinear interactions which are present require that the chemistry and meteorology be considered simultaneously to make a valid assessment of the effects of individual sources on regional air quality.
DspaceOgreTerrain 3D Terrain Visualization Tool
DspaceOgreTerrain is an extension to the DspaceOgre 3D visualization tool that supports real-time visualization of various terrain types, including digital elevation maps, planets, and meshes. DspaceOgreTerrain supports creating 3D representations of terrains and placing them in a scene graph. The 3D representations allow for a continuous level of detail, GPU-based rendering, and overlaying graphics like wheel tracks and shadows. It supports reading data from the SimScape terrain- modeling library. DspaceOgreTerrain solves the problem of displaying the results of simulations that involve very large terrains. In the past, it has been used to visualize simulations of vehicle traverses on Lunar and Martian terrains. These terrains were made up of billions of vertices and would not have been renderable in real-time without using a continuous level of detail rendering technique.
Modelling above-ground biomass stock over Norway using national forest inventory data with ArcticDEM and Sentinel-2 data
Boreal forests constitute a large portion of the global forest area, yet they are undersampled through field surveys, and only a few remotely sensed data sources provide structural information wall-to-wall throughout the boreal domain. ArcticDEM is a collection of high-resolution (2 m) space-borne stereogrammetric digital surface models (DSM) covering the entire land area north of 60° of latitude. The free-availability of ArcticDEM data offers new possibilities for aboveground biomass mapping (AGB) across boreal forests, and thus it is necessary to evaluate the potential for these data to map AGB over alternative open-data sources (i.e., Sentinel-2). This study was performed over the entire land area of Norway north of 60° of latitude, and the Norwegian national forest inventory (NFI) was used as a source of field data composed of accurately geolocated field plots (n=7710) systematically distributed across the study area. Separate random forest models were fitted using NFI data, and corresponding remotely sensed data consisting of either: i) a canopy height model (ArcticCHM) obtained by subtracting a high-quality digital terrain model (DTM) from the ArcticDEM DSM height values, ii) Sentinel-2 (S2), or iii) a combination of the two (ArcticCHM+S2). Furthermore, we assessed the effect of the forest- and terrain-specific factors on the models’ predictive accuracy. The best model (,i.e., ArcticCHM+S2) explained nearly 60% of the variance of the training set, which translated in the largest accuracy in terms of root mean square error (RMSE=41.4 t/ha). This result highlights the synergy between 3D and multispectral data in AGB modelling. Furthermore, this study showed that despite the importance of ArcticCHM variables, the S2 model performed slightly better than ArcticCHM model. This finding highlights some of the limitations of ArcticDEM, which, despite the unprecedented spatial resolution, is highly heterogeneous due to the blending of multiple acquisitions across different years and seasons. We found that both forest- and terrain-specific characteristics affected the uncertainty of the ArcticCHM+S2 model and concluded that the combined use of ArcticCHM and Sentinel-2 represents a viable solution for AGB mapping across boreal forests. The synergy between the two data sources allowed for a reduction of the saturation effects typical of multispectral data while ensuring the spatial consistency in the output predictions due to the removal of artifacts and data voids present in ArcticCHM data. While the main contribution of this study is to provide the first evidence of the best-case-scenario (i.e., availability of accurate terrain models) that ArcticDEM data can provide for large-scale AGB modelling, it remains critically important for other studies to investigate how ArcticDEM may be used in areas where no DTMs are available as is the case for large portions of the boreal zone.
A quad-pol radar scattering model for use in remote sensing of lava flow morphology
Mapping of spatial variations in surface roughness over large regions is required to understand the nature of volcanic terrains. An invertible scattering model for quad-polarization radar data is presented to assist in the remote-sensing analysis of lava flow surface morphology. This model permits separation of the polarized part of the radar echo into quasispecular, dihedral, and small-perturbation scatterin components, based on an assumed surface dielectric constant. Tests are presented for a quad-pol scene of Craters of the Moon National Monument in Idaho, where there are a number of basaltic lava flows of differing surface morphology. Comparison of calculated model components with the observed morphology of the lava flows suggests that this technique may be useful for the remote description of changes in surface roughness. The scattering mechanisms chosen to represent the polarizing behavior of the real surface display correlations which indicate that they are sensitive to the expected scales of roughness.
AI4MARS: A Dataset for Terrain-Aware Autonomy on Mars
Deep learning has quickly become a necessity for selfdriving vehicles on Earth. In contrast, the self-driving vehicles on Mars, including NASA’s latest rover, Perseverance, which is planned to land on Mars in February 2021, are still driven by classical machine vision systems. Deep learning capabilities, such as semantic segmentation and object recognition, would substantially benefit the safety and productivity of ongoing and future missions to the red planet. To this end, we created the first large-scale dataset, AI4Mars, for training and validating terrain classification models for Mars, consisting of ~326K semantic segmentation full image labels on 35K images from Curiosity, Opportunity, and Spirit rovers, collected through crowdsourcing. Each image was labeled by ~10 people to ensure greater quality and agreement of the crowdsourced labels. It also includes ~1.5K validation labels annotated by the rover planners and scientists from NASA’s MSL (Mars Science Laboratory) mission, which operates the Curiosity rover, and MER (Mars Exploration Rovers) mission, which operated the Spirit and Opportunity rovers. We trained a DeepLabv3 model on the AI4Mars training dataset and achieved over 96% overall classification accuracy on the test set. The dataset is made publicly available.1
Convective Biases in the US DOE Global Storm‐Resolving Model: Insights From Regionally Refined Simulations During the CACTI Campaign
Accurately simulating convective processes in complex terrain remains a critical challenge for global storm-resolving models (GSRMs). This study systematically evaluates moist convective biases in the Regionally Refined Mesh configuration of the U.S. Department of Energy Simple Cloud-Resolving E3SM Atmosphere Model (RRM-SCREAM) using comprehensive observations and large-eddy simulations from the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) campaign in the mountainous area of central Argentina. Comparisons of simulations with high-resolution observations and reanalysis data indicate that RRM-SCREAM effectively captures large-scale meteorological patterns, including regional atmospheric gradients and diurnal variability. However, RRM-SCREAM disproportionately produces smaller precipitation clusters referred to as “popcorn convection,” and exaggerated rainfall intensities compared to observations and reference models. Detailed examination of a representative orographic shallow-to-deep convective transition case shows that RRM-SCREAM delays initial shallow convection growth due to lower-tropospheric dryness and sustained convective inhibition, but once triggered, deep convection becomes overly vigorous with excessively strong vertical velocities and elevated cloud ice content, linked to a thermodynamic structure characterized by suppressed low-level moistening and excessive upper-level moisture retention. Our results highlight specific deficiencies in the model representation of convective vertical velocity, cloud microphysical processes, and convective precipitation organization within RRM-SCREAM. Addressing these biases is essential for improving the predictions of convective clouds and precipitation in the global high-resolution atmospheric models.
Photo-realistic Terrain Modeling and Visualization for Mars Exploration Rover Science Operations
Modern NASA planetary exploration missions employ complex systems of hardware and software managed by large teams of. engineers and scientists in order to study remote environments. The most complex and successful of these recent projects is the Mars Exploration Rover mission. The Computational Sciences Division at NASA Ames Research Center delivered a 30 visualization program, Viz, to the MER mission that provides an immersive, interactive environment for science analysis of the remote planetary surface. In addition, Ames provided the Athena Science Team with high-quality terrain reconstructions generated with the Ames Stereo-pipeline. The on-site support team for these software systems responded to unanticipated opportunities to generate 30 terrain models during the primary MER mission. This paper describes Viz, the Stereo-pipeline, and the experiences of the on-site team supporting the scientists at JPL during the primary MER mission.
Simulation of spaceborne stereo radar imagery - Experimental results
Computer simulation of radar imagery was used to investigate spaceborne stereo radar. The major conclusions reached are that stereo pairs representing different angles of incidence with the same look-direction appear best and that the angles of incidence and stereo intersection angle be matched to the slope and relief of terrain. A parametric tradeoff analysis was performed for eleven different angles of incidence over three different model areas. The eleven angles spanned the range from small- to large-incidence angles. The three model areas were selected as typical of relatively flat, moderately rough, and mountainous terrain. The stereo pair judged best for each model area are included.