Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

NASA Technical Reports Server (NTRS)

Bajracharya, Max; Howard, Andrew B.; Matthies, Larry H.

2009-01-01

Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

Dynamic edge warping - An experimental system for recovering disparity maps in weakly constrained systems

NASA Technical Reports Server (NTRS)

Boyer, K. L.; Wuescher, D. M.; Sarkar, S.

1991-01-01

Dynamic edge warping (DEW), a technique for recovering reasonably accurate disparity maps from uncalibrated stereo image pairs, is presented. No precise knowledge of the epipolar camera geometry is assumed. The technique is embedded in a system including structural stereopsis on the front end and robust estimation in digital photogrammetry on the other for the purpose of self-calibrating stereo image pairs. Once the relative camera orientation is known, the epipolar geometry is computed and the system can use this information to refine its representation of the object space. Such a system will find application in the autonomous extraction of terrain maps from stereo aerial photographs, for which camera position and orientation are unknown a priori, and for online autonomous calibration maintenance for robotic vision applications, in which the cameras are subject to vibration and other physical disturbances after calibration. This work thus forms a component of an intelligent system that begins with a pair of images and, having only vague knowledge of the conditions under which they were acquired, produces an accurate, dense, relative depth map. The resulting disparity map can also be used directly in some high-level applications involving qualitative scene analysis, spatial reasoning, and perceptual organization of the object space. The system as a whole substitutes high-level information and constraints for precise geometric knowledge in driving and constraining the early correspondence process.

Pose and motion recovery from feature correspondences and a digital terrain map.

PubMed

Lerner, Ronen; Rivlin, Ehud; Rotstein, Héctor P

2006-09-01

A novel algorithm for pose and motion estimation using corresponding features and a Digital Terrain Map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables the elimination of the ambiguity present in vision-based algorithms for motion recovery. As a consequence, the absolute position and orientation of a camera can be recovered with respect to the external reference frame. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. Explicit reconstruction of the 3D world is not required. When considering a number of feature points, the resulting constraints can be solved using nonlinear optimization in terms of position, orientation, and motion. Such a procedure requires an initial guess of these parameters, which can be obtained from dead-reckoning or any other source. The feasibility of the algorithm is established through extensive experimentation. Performance is compared with a state-of-the-art alternative algorithm, which intermediately reconstructs the 3D structure and then registers it to the DTM. A clear advantage for the novel algorithm is demonstrated in variety of scenarios.

Enhancing Positioning Accuracy in Urban Terrain by Fusing Data from a GPS Receiver, Inertial Sensors, Stereo-Camera and Digital Maps for Pedestrian Navigation

PubMed Central

Przemyslaw, Baranski; Pawel, Strumillo

2012-01-01

The paper presents an algorithm for estimating a pedestrian location in an urban environment. The algorithm is based on the particle filter and uses different data sources: a GPS receiver, inertial sensors, probability maps and a stereo camera. Inertial sensors are used to estimate a relative displacement of a pedestrian. A gyroscope estimates a change in the heading direction. An accelerometer is used to count a pedestrian's steps and their lengths. The so-called probability maps help to limit GPS inaccuracy by imposing constraints on pedestrian kinematics, e.g., it is assumed that a pedestrian cannot cross buildings, fences etc. This limits position inaccuracy to ca. 10 m. Incorporation of depth estimates derived from a stereo camera that are compared to the 3D model of an environment has enabled further reduction of positioning errors. As a result, for 90% of the time, the algorithm is able to estimate a pedestrian location with an error smaller than 2 m, compared to an error of 6.5 m for a navigation based solely on GPS. PMID:22969321

Evaluating planetary digital terrain models-The HRSC DTM test

USGS Publications Warehouse

Heipke, C.; Oberst, J.; Albertz, J.; Attwenger, M.; Dorninger, P.; Dorrer, E.; Ewe, M.; Gehrke, S.; Gwinner, K.; Hirschmuller, H.; Kim, J.R.; Kirk, R.L.; Mayer, H.; Muller, Jan-Peter; Rengarajan, R.; Rentsch, M.; Schmidt, R.; Scholten, F.; Shan, J.; Spiegel, M.; Wahlisch, M.; Neukum, G.

2007-01-01

The High Resolution Stereo Camera (HRSC) has been orbiting the planet Mars since January 2004 onboard the European Space Agency (ESA) Mars Express mission and delivers imagery which is being used for topographic mapping of the planet. The HRSC team has conducted a systematic inter-comparison of different alternatives for the production of high resolution digital terrain models (DTMs) from the multi look HRSC push broom imagery. Based on carefully chosen test sites the test participants have produced DTMs which have been subsequently analysed in a quantitative and a qualitative manner. This paper reports on the results obtained in this test. ?? 2007 Elsevier Ltd. All rights reserved.

Geomorphologic mapping of the lunar crater Tycho and its impact melt deposits

NASA Astrophysics Data System (ADS)

Krüger, T.; van der Bogert, C. H.; Hiesinger, H.

2016-07-01

Using SELENE/Kaguya Terrain Camera and Lunar Reconnaissance Orbiter Camera (LROC) data, we produced a new, high-resolution (10 m/pixel), geomorphological and impact melt distribution map for the lunar crater Tycho. The distal ejecta blanket and crater rays were investigated using LROC wide-angle camera (WAC) data (100 m/pixel), while the fine-scale morphologies of individual units were documented using high resolution (∼0.5 m/pixel) LROC narrow-angle camera (NAC) frames. In particular, Tycho shows a large coherent melt sheet on the crater floor, melt pools and flows along the terraced walls, and melt pools on the continuous ejecta blanket. The crater floor of Tycho exhibits three distinct units, distinguishable by their elevation and hummocky surface morphology. The distribution of impact melt pools and ejecta, as well as topographic asymmetries, support the formation of Tycho as an oblique impact from the W-SW. The asymmetric ejecta blanket, significantly reduced melt emplacement uprange, and the depressed uprange crater rim at Tycho suggest an impact angle of ∼25-45°.

Preliminary Geological Map of the Ac-H-12 Toharu Quadrangle of Ceres: An Integrated Mapping Study Using Dawn Spacecraft Data

NASA Astrophysics Data System (ADS)

Mest, S. C.; Williams, D. A.; Crown, D. A.; Yingst, R. A.; Buczkowski, D.; Schenk, P.; Scully, J. E. C.; Jaumann, R.; Roatsch, T.; Preusker, F.; Platz, T.; Nathues, A.; Hoffmann, M.; Schäfer, M.; Marchi, S.; De Sanctis, M. C.; Russell, C. T.; Raymond, C. A.

2015-12-01

We are using recent data from the Dawn spacecraft to map the geology of the Ac-H-12 Toharu Quadrangle (21-66°S, 90-180°E) of the dwarf planet Ceres in order to examine its surface geology and understand its geologic history. At the time of this writing, mapping was performed on Framing Camera (FC) mosaics from late Approach (1.3 km/px) and Survey (415 m/px) orbits, including clear filter and color images and digital terrain models derived from stereo images. Images from the High Altitude Mapping Orbit (140 m/px) will be used to refine the map in Fall 2015, followed by the Low Altitude Mapping Orbit (35 m/px) starting in December 2015. The quad is named after crater Toharu (87 km diameter; 49°S, 155°E). The southern rim of Kerwan basin (284 km diameter) is visible along the northern edge of the quad, which is preserved as a low-relief scarp. The quad exhibits smooth terrain in the north, and more heavily cratered terrain in the south. The smooth terrain forms nearly flat-lying plains in some areas, such as on the floor and to the southeast of Kerwan, and overlies hummocky materials in other areas. These smooth materials extend over a much broader area outside of the quad, and appear to contain some of the lowest crater densities on Ceres. Impact craters exhibit a range of coinciding sizes and preservation styles. Smaller craters (<40 km) generally appear morphologically "fresh", and their rims are nearly circular and raised above the surrounding terrain. Larger craters, such as Toharu, appear more degraded, exhibiting irregularly shaped, sometimes scalloped, rim structures, and debris lobes on their floors. Numerous craters (> 20 km) contain central mounds; at current FC resolution, it is difficult to discern if these are primary structures (i.e., central peaks) or secondary features. Support of the Dawn Instrument, Operations, & Science Teams is acknowledged. This work is supported by grants from NASA, DLR and MPG.

Pluto Color Map

NASA Image and Video Library

2017-01-20

This new, detailed global mosaic color map of Pluto is based on a series of three color filter images obtained by the Ralph/Multispectral Visual Imaging Camera aboard New Horizons during the NASA spacecraft's close flyby of Pluto in July 2015. The mosaic shows how Pluto's large-scale color patterns extend beyond the hemisphere facing New Horizons at closest approach- which were imaged at the highest resolution. North is up; Pluto's equator roughly bisects the band of dark red terrains running across the lower third of the map. Pluto's giant, informally named Sputnik Planitia glacier - the left half of Pluto's signature "heart" feature -- is at the center of this map. http://photojournal.jpl.nasa.gov/catalog/PIA11707

Dark and Bright Terrains of Pluto

NASA Image and Video Library

2015-07-10

These circular maps shows the distribution of Pluto's dark and bright terrains as revealed by NASA's New Horizons mission prior to July 4, 2015. Each map is an azimuthal equidistant projection centered on the north pole, with latitude and longitude indicated. Both a gray-scale and color version are shown. The gray-scale version is based on 7 days of panchromatic imaging from the Long Range Reconnaissance Imager (LORRI), whereas the color version uses the gray-scale base and incorporates lower-resolution color information from the Multi-spectral Visible Imaging Camera (MVIC), part of the Ralph instrument. The color version is also shown in a simple cylindrical projection in PIA19700. In these maps, the polar bright terrain is surrounded by a somewhat darker polar fringe, one whose latitudinal position varies strongly with longitude. Especially striking are the much darker regions along the equator. A broad dark swath ("the whale") stretches along the equator from approximately 20 to 160 degrees of longitude. Several dark patches appear in a regular sequence centered near 345 degrees of longitude. A spectacular bright region occupies Pluto's mid-latitudes near 180 degrees of longitude, and stretches southward over the equator. New Horizons' closest approach to Pluto will occur near this longitude, which will permit high-resolution visible imaging and compositional mapping of these various regions. http://photojournal.jpl.nasa.gov/catalog/PIA19706

Aspects of Voyager photogrammetry

NASA Technical Reports Server (NTRS)

Wu, Sherman S. C.; Schafer, Francis J.; Jordan, Raymond; Howington, Annie-Elpis

1987-01-01

In January 1986, Voyager 2 took a series of pictures of Uranus and its satellites with the Imaging Science System (ISS) on board the spacecraft. Based on six stereo images from the ISS narrow-angle camera, a topographic map was compiled of the Southern Hemisphere of Miranda, one of Uranus' moons. Assuming a spherical figure, a 20-km surface relief is shown on the map. With three additional images from the ISS wide-angle camera, a control network of Miranda's Southern Hemisphere was established by analytical photogrammetry, producing 88 ground points for the control of multiple-model compilation on the AS-11AM analytical stereoplotter. Digital terrain data from the topographic map of Miranda have also been produced. By combining these data and the image data from the Voyager 2 mission, perspective views or even a movie of the mapped area can be made. The application of these newly developed techniques to Voyager 1 imagery, which includes a few overlapping pictures of Io and Ganymede, permits the compilation of contour maps or topographic profiles of these bodies on the analytical stereoplotters.

Ames Stereo Pipeline for Operation IceBridge

NASA Astrophysics Data System (ADS)

Beyer, R. A.; Alexandrov, O.; McMichael, S.; Fong, T.

2017-12-01

We are using the NASA Ames Stereo Pipeline to process Operation IceBridge Digital Mapping System (DMS) images into terrain models and to align them with the simultaneously acquired LIDAR data (ATM and LVIS). The expected outcome is to create a contiguous, high resolution terrain model for each flight that Operation IceBridge has flown during its eight year history of Arctic and Antarctic flights. There are some existing terrain models in the NSIDC repository that cover 2011 and 2012 (out of the total period of 2009 to 2017), which were made with the Agisoft Photoscan commercial software. Our open-source stereo suite has been verified to create terrains of similar quality. The total number of images we expect to process is around 5 million. There are numerous challenges with these data: accurate determination and refinement of camera pose when the images were acquired based on data logged during the flights and/or using information from existing orthoimages, aligning terrains with little or no features, images containing clouds, JPEG artifacts in input imagery, inconsistencies in how data was acquired/archived over the entire period, not fully reliable camera calibration files, and the sheer amount of data. We will create the majority of terrain models at 40 cm/pixel with a vertical precision of 10 to 20 cm. In some circumstances when the aircraft was flying higher than usual, those values will get coarser. We will create orthoimages at 10 cm/pixel (with the same caveat that some flights are at higher altitudes). These will differ from existing orthoimages by using the underlying terrain we generate rather than some pre-existing very low-resolution terrain model that may differ significantly from what is on the ground at the time of IceBridge acquisition.The results of this massive processing will be submitted to the NSIDC so that cryosphere researchers will be able to use these data for their investigations.

Science Activity Planner for the MER Mission

NASA Technical Reports Server (NTRS)

Norris, Jeffrey S.; Crockett, Thomas M.; Fox, Jason M.; Joswig, Joseph C.; Powell, Mark W.; Shams, Khawaja S.; Torres, Recaredo J.; Wallick, Michael N.; Mittman, David S.

2008-01-01

The Maestro Science Activity Planner is a computer program that assists human users in planning operations of the Mars Explorer Rover (MER) mission and visualizing scientific data returned from the MER rovers. Relative to its predecessors, this program is more powerful and easier to use. This program is built on the Java Eclipse open-source platform around a Web-browser-based user-interface paradigm to provide an intuitive user interface to Mars rovers and landers. This program affords a combination of advanced display and simulation capabilities. For example, a map view of terrain can be generated from images acquired by the High Resolution Imaging Science Explorer instrument aboard the Mars Reconnaissance Orbiter spacecraft and overlaid with images from a navigation camera (more precisely, a stereoscopic pair of cameras) aboard a rover, and an interactive, annotated rover traverse path can be incorporated into the overlay. It is also possible to construct an overhead perspective mosaic image of terrain from navigation-camera images. This program can be adapted to similar use on other outer-space missions and is potentially adaptable to numerous terrestrial applications involving analysis of data, operations of robots, and planning of such operations for acquisition of scientific data.

FIDO prototype Mars rover field trials, Black Rock Summit, Nevada, as test of the ability of robotic mobility systems to conduct field science

NASA Astrophysics Data System (ADS)

Arvidson, R. E.; Squyres, S. W.; Baumgartner, E. T.; Schenker, P. S.; Niebur, C. S.; Larsen, K. W.; SeelosIV, F. P.; Snider, N. O.; Jolliff, B. L.

2002-08-01

The Field Integration Design and Operations (FIDO) prototype Mars rover was deployed and operated remotely for 2 weeks in May 2000 in the Black Rock Summit area of Nevada. The blind science operation trials were designed to evaluate the extent to which FIDO-class rovers can be used to conduct traverse science and collect samples. FIDO-based instruments included stereo cameras for navigation and imaging, an infrared point spectrometer, a color microscopic imager for characterization of rocks and soils, and a rock drill for core acquisition. Body-mounted ``belly'' cameras aided drill deployment, and front and rear hazard cameras enabled terrain hazard avoidance. Airborne Visible and Infrared Imaging Spectrometer (AVIRIS) data, a high spatial resolution IKONOS orbital image, and a suite of descent images were used to provide regional- and local-scale terrain and rock type information, from which hypotheses were developed for testing during operations. The rover visited three sites, traversed 30 m, and acquired 1.3 gigabytes of data. The relatively small traverse distance resulted from a geologically rich site in which materials identified on a regional scale from remote-sensing data could be identified on a local scale using rover-based data. Results demonstrate the synergy of mapping terrain from orbit and during descent using imaging and spectroscopy, followed by a rover mission to test inferences and to make discoveries that can be accomplished only with surface mobility systems.

Geometrical Calibration of the Photo-Spectral System and Digital Maps Retrieval

NASA Astrophysics Data System (ADS)

Bruchkouskaya, S.; Skachkova, A.; Katkovski, L.; Martinov, A.

2013-12-01

Imaging systems for remote sensing of the Earth are required to demonstrate high metric accuracy of the picture which can be provided through preliminary geometrical calibration of optical systems. Being defined as a result of the geometrical calibration, parameters of internal and external orientation of the cameras are needed while solving such problems of image processing, as orthotransformation, geometrical correction, geographical coordinate fixing, scale adjustment and image registration from various channels and cameras, creation of image mosaics of filmed territories, and determination of geometrical characteristics of objects in the images. The geometrical calibration also helps to eliminate image deformations arising due to manufacturing defects and errors in installation of camera elements and photo receiving matrices as well as those resulted from lens distortions. A Photo-Spectral System (PhSS), which is intended for registering reflected radiation spectra of underlying surfaces in a wavelength range from 350 nm to 1050 nm and recording images of high spatial resolution, has been developed at the A.N. Sevchenko Research Institute of Applied Physical Problems of the Belarusian State University. The PhSS has undergone flight tests over the territory of Belarus onboard the Antonov AN-2 aircraft with the aim to obtain visible range images of the underlying surface. Then we performed the geometrical calibration of the PhSS and carried out the correction of images obtained during the flight tests. Furthermore, we have plotted digital maps of the terrain using the stereo pairs of images acquired from the PhSS and evaluated the accuracy of the created maps. Having obtained the calibration parameters, we apply them for correction of the images from another identical PhSS device, which is located at the Russian Orbital Segment of the International Space Station (ROS ISS), aiming to retrieve digital maps of the terrain with higher accuracy.

The Panoramic Camera (PanCam) Instrument for the ESA ExoMars Rover

NASA Astrophysics Data System (ADS)

Griffiths, A.; Coates, A.; Jaumann, R.; Michaelis, H.; Paar, G.; Barnes, D.; Josset, J.

The recently approved ExoMars rover is the first element of the ESA Aurora programme and is slated to deliver the Pasteur exobiology payload to Mars by 2013. The 0.7 kg Panoramic Camera will provide multispectral stereo images with 65° field-of- view (1.1 mrad/pixel) and high resolution (85 µrad/pixel) monoscopic "zoom" images with 5° field-of-view. The stereo Wide Angle Cameras (WAC) are based on Beagle 2 Stereo Camera System heritage. The Panoramic Camera instrument is designed to fulfil the digital terrain mapping requirements of the mission as well as providing multispectral geological imaging, colour and stereo panoramic images, solar images for water vapour abundance and dust optical depth measurements and to observe retrieved subsurface samples before ingestion into the rest of the Pasteur payload. Additionally the High Resolution Camera (HRC) can be used for high resolution imaging of interesting targets detected in the WAC panoramas and of inaccessible locations on crater or valley walls.

An efficient approach for site-specific scenery prediction in surveillance imaging near Earth's surface

NASA Astrophysics Data System (ADS)

Jylhä, Juha; Marjanen, Kalle; Rantala, Mikko; Metsäpuro, Petri; Visa, Ari

2006-09-01

Surveillance camera automation and camera network development are growing areas of interest. This paper proposes a competent approach to enhance the camera surveillance with Geographic Information Systems (GIS) when the camera is located at the height of 10-1000 m. A digital elevation model (DEM), a terrain class model, and a flight obstacle register comprise exploited auxiliary information. The approach takes into account spherical shape of the Earth and realistic terrain slopes. Accordingly, considering also forests, it determines visible and shadow regions. The efficiency arises out of reduced dimensionality in the visibility computation. Image processing is aided by predicting certain advance features of visible terrain. The features include distance from the camera and the terrain or object class such as coniferous forest, field, urban site, lake, or mast. The performance of the approach is studied by comparing a photograph of Finnish forested landscape with the prediction. The predicted background is well-fitting, and potential knowledge-aid for various purposes becomes apparent.

Video Altimeter and Obstruction Detector for an Aircraft

NASA Technical Reports Server (NTRS)

Delgado, Frank J.; Abernathy, Michael F.; White, Janis; Dolson, William R.

2013-01-01

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.

Autonomous Vision-based Rotorcraft Landing and Accurate Aerial Terrain Mapping in an Unknown Environment

DTIC Science & Technology

2007-01-22

requirements for the degree of Master of Science, Plan II. Approval for the Report and Comprehensive Examination: Committee: Professor S. Shankar Sastry...13 2.4 Plans for the high-level planner. . . . . . . . . . . . . . . . . . . . . . . . 14 3.1 Idealized flight for purposes of analyzing...Stamping In order to use the RMFPP algorithm, we must first motion stamp each image, i.e. de - termine the orientation and position of the camera when

Single-Frame Terrain Mapping Software for Robotic Vehicles

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.

2011-01-01

This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each map. The map is compressed into a vector prior to delivery to another system.

Assessment of the Quality of Digital Terrain Model Produced from Unmanned Aerial System Imagery

NASA Astrophysics Data System (ADS)

Kosmatin Fras, M.; Kerin, A.; Mesarič, M.; Peterman, V.; Grigillo, D.

2016-06-01

Production of digital terrain model (DTM) is one of the most usual tasks when processing photogrammetric point cloud generated from Unmanned Aerial System (UAS) imagery. The quality of the DTM produced in this way depends on different factors: the quality of imagery, image orientation and camera calibration, point cloud filtering, interpolation methods etc. However, the assessment of the real quality of DTM is very important for its further use and applications. In this paper we first describe the main steps of UAS imagery acquisition and processing based on practical test field survey and data. The main focus of this paper is to present the approach to DTM quality assessment and to give a practical example on the test field data. For data processing and DTM quality assessment presented in this paper mainly the in-house developed computer programs have been used. The quality of DTM comprises its accuracy, density, and completeness. Different accuracy measures like RMSE, median, normalized median absolute deviation and their confidence interval, quantiles are computed. The completeness of the DTM is very often overlooked quality parameter, but when DTM is produced from the point cloud this should not be neglected as some areas might be very sparsely covered by points. The original density is presented with density plot or map. The completeness is presented by the map of point density and the map of distances between grid points and terrain points. The results in the test area show great potential of the DTM produced from UAS imagery, in the sense of detailed representation of the terrain as well as good height accuracy.

Mapping Vesta Mid-Latitude Quadrangle V-12EW: Mapping the Edge of the South Polar Structure

NASA Astrophysics Data System (ADS)

Hoogenboom, T.; Schenk, P.; Williams, D. A.; Hiesinger, H.; Garry, W. B.; Yingst, R.; Buczkowski, D.; McCord, T. B.; Jaumann, R.; Pieters, C. M.; Gaskell, R. W.; Neukum, G.; Schmedemann, N.; Marchi, S.; Nathues, A.; Le Corre, L.; Roatsch, T.; Preusker, F.; White, O. L.; DeSanctis, C.; Filacchione, G.; Raymond, C. A.; Russell, C. T.

2011-12-01

NASA's Dawn spacecraft arrived at the asteroid 4Vesta on July 15, 2011, and is now collecting imaging, spectroscopic, and elemental abundance data during its one-year orbital mission. As part of the geological analysis of the surface, a series of 15 quadrangle maps are being produced based on Framing Camera images (FC: spatial resolution: ~65 m/pixel) along with Visible & Infrared Spectrometer data (VIR: spatial resolution: ~180 m/pixel) obtained during the High-Altitude Mapping Orbit (HAMO). This poster presentation concentrates on our geologic analysis and mapping of quadrangle V-12EW. This quadrangle is dominated by the arcuate edge of the large 460+ km diameter south polar topographic feature first observed by HST (Thomas et al., 1997). Sparsely cratered, the portion of this feature covered in V-12EW is characterized by arcuate ridges and troughs forming a generalized arcuate pattern. Mapping of this terrain and the transition to areas to the north will be used to test whether this feature has an impact or other (e.g., internal) origin. We are also using FC stereo and VIR images to assess whether their are any compositional differences between this terrain and areas further to the north, and image data to evaluate the distribution and age of young impact craters within the map area. The authors acknowledge the support of the Dawn Science, Instrument and Operations Teams.

On-board computational efficiency in real time UAV embedded terrain reconstruction

NASA Astrophysics Data System (ADS)

Partsinevelos, Panagiotis; Agadakos, Ioannis; Athanasiou, Vasilis; Papaefstathiou, Ioannis; Mertikas, Stylianos; Kyritsis, Sarantis; Tripolitsiotis, Achilles; Zervos, Panagiotis

2014-05-01

In the last few years, there is a surge of applications for object recognition, interpretation and mapping using unmanned aerial vehicles (UAV). Specifications in constructing those UAVs are highly diverse with contradictory characteristics including cost-efficiency, carrying weight, flight time, mapping precision, real time processing capabilities, etc. In this work, a hexacopter UAV is employed for near real time terrain mapping. The main challenge addressed is to retain a low cost flying platform with real time processing capabilities. The UAV weight limitation affecting the overall flight time, makes the selection of the on-board processing components particularly critical. On the other hand, surface reconstruction, as a computational demanding task, calls for a highly demanding processing unit on board. To merge these two contradicting aspects along with customized development, a System on a Chip (SoC) integrated circuit is proposed as a low-power, low-cost processor, which natively supports camera sensors and positioning and navigation systems. Modern SoCs, such as Omap3530 or Zynq, are classified as heterogeneous devices and provide a versatile platform, allowing access to both general purpose processors, such as the ARM11, as well as specialized processors, such as a digital signal processor and floating field-programmable gate array. A UAV equipped with the proposed embedded processors, allows on-board terrain reconstruction using stereo vision in near real time. Furthermore, according to the frame rate required, additional image processing may concurrently take place, such as image rectification andobject detection. Lastly, the onboard positioning and navigation (e.g., GNSS) chip may further improve the quality of the generated map. The resulting terrain maps are compared to ground truth geodetic measurements in order to access the accuracy limitations of the overall process. It is shown that with our proposed novel system,there is much potential in computational efficiency on board and in optimized time constraints.

A Vision System For A Mars Rover

NASA Astrophysics Data System (ADS)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1987-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

A vision system for a Mars rover

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1988-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

Investigation of Skylab imagery for regional planning. [New York, New Jersey, and Connecticut

NASA Technical Reports Server (NTRS)

Harting, W. (Principal Investigator)

1975-01-01

The author has identified the following significant results. It is feasible to use earth terrain camera imagery to detect four land uses (vacant land, developed land, streets, and water) for general regional planning purposes. Multispectral imagery is suitable for detecting, mapping, and measuring water bodies as small as two acres. Sufficient information can be extracted to prepare graphic and pictorial representations of the general growth and development patterns, but cannot be incorporated into an inventory file for predictive models.

Overland Flow Analysis Using Time Series of Suas-Derived Elevation Models

NASA Astrophysics Data System (ADS)

Jeziorska, J.; Mitasova, H.; Petrasova, A.; Petras, V.; Divakaran, D.; Zajkowski, T.

2016-06-01

With the advent of the innovative techniques for generating high temporal and spatial resolution terrain models from Unmanned Aerial Systems (UAS) imagery, it has become possible to precisely map overland flow patterns. Furthermore, the process has become more affordable and efficient through the coupling of small UAS (sUAS) that are easily deployed with Structure from Motion (SfM) algorithms that can efficiently derive 3D data from RGB imagery captured with consumer grade cameras. We propose applying the robust overland flow algorithm based on the path sampling technique for mapping flow paths in the arable land on a small test site in Raleigh, North Carolina. By comparing a time series of five flights in 2015 with the results of a simulation based on the most recent lidar derived DEM (2013), we show that the sUAS based data is suitable for overland flow predictions and has several advantages over the lidar data. The sUAS based data captures preferential flow along tillage and more accurately represents gullies. Furthermore the simulated water flow patterns over the sUAS based terrain models are consistent throughout the year. When terrain models are reconstructed only from sUAS captured RGB imagery, however, water flow modeling is only appropriate in areas with sparse or no vegetation cover.

Detection of ground fog in mountainous areas from MODIS (Collection 051) daytime data using a statistical approach

NASA Astrophysics Data System (ADS)

Schulz, Hans Martin; Thies, Boris; Chang, Shih-Chieh; Bendix, Jörg

2016-03-01

The mountain cloud forest of Taiwan can be delimited from other forest types using a map of the ground fog frequency. In order to create such a frequency map from remotely sensed data, an algorithm able to detect ground fog is necessary. Common techniques for ground fog detection based on weather satellite data cannot be applied to fog occurrences in Taiwan as they rely on several assumptions regarding cloud properties. Therefore a new statistical method for the detection of ground fog in mountainous terrain from MODIS Collection 051 data is presented. Due to the sharpening of input data using MODIS bands 1 and 2, the method provides fog masks in a resolution of 250 m per pixel. The new technique is based on negative correlations between optical thickness and terrain height that can be observed if a cloud that is relatively plane-parallel is truncated by the terrain. A validation of the new technique using camera data has shown that the quality of fog detection is comparable to that of another modern fog detection scheme developed and validated for the temperate zones. The method is particularly applicable to optically thinner water clouds. Beyond a cloud optical thickness of ≈ 40, classification errors significantly increase.

Flash LIDAR Emulator for HIL Simulation

NASA Technical Reports Server (NTRS)

Brewster, Paul F.

2010-01-01

NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) project is building a system for detecting hazards and automatically landing controlled vehicles safely anywhere on the Moon. The Flash Light Detection And Ranging (LIDAR) sensor is used to create on-the-fly a 3D map of the unknown terrain for hazard detection. As part of the ALHAT project, a hardware-in-the-loop (HIL) simulation testbed was developed to test the data processing, guidance, and navigation algorithms in real-time to prove their feasibility for flight. Replacing the Flash LIDAR camera with an emulator in the testbed provided a cheaper, safer, more feasible way to test the algorithms in a controlled environment. This emulator must have the same hardware interfaces as the LIDAR camera, have the same performance characteristics, and produce images similar in quality to the camera. This presentation describes the issues involved and the techniques used to create a real-time flash LIDAR emulator to support HIL simulation.

Skylab investigation of the upwelling off the Northwest coast of Africa

NASA Technical Reports Server (NTRS)

Szekielda, K. H.; Suszkowski, D. J.; Tabor, P. S.

1975-01-01

The upwelling off the NW coast of Africa in the vicinity of Cape Blanc was studied in February - March 1974 from aircraft and in September 1973 from Skylab. The aircraft study was designed to determine the effectiveness of a differential radiometer in quantifying surface chlorophyll concentrations. Photographic images of the S190A Multispectral Camera and the S190B Earth Terrain Camera from Skylab were used to study distributional patterns of suspended material and to locate ocean color boundaries. The thermal channel of the S192 Multispectral Scanner was used to map sea-surface temperature distributions offshore of Cape Blanc. Correlating ocean color changes with temperature gradients is an effective method of qualitatively estimating biological productivity in the upwelling region off Africa.

Topographic instructions, Book 3, multiplex procedure; Chapter 3 C7a-e

USGS Publications Warehouse

Loud, Edward I.

1952-01-01

By direct projection of overlapping photographs, printed on glass plates, the multiplex produces an exact optical model, in miniature, of the terrain to be mapped. To create the model, the multiplex projectors must be properly positioned and oriented so that they duplicate the orientation of the aerial camera at the instant of each exposure. By means of a floating mark, horizontal and vertical measurements can be made in the model, and planimetry and contours can be drawn. The applicability of the multiplex to a given mapping project depends largely on the contour interval and compilation scale required, and also depends, to a lesser extent, on the vegetation and terrain cover as it may affect accuracy requirements. The steps in multiplex procedure are orientation, stereotriangulation, and compilation of detail. In orientation, the projectors are arranged so that the projected images form a stereoscopic model which can be adjusted to fit horizontal and vertical control points. In stereotriangulation, three or more multiplex projectors are oriented so that the consecutive models fit existing control, permitting the establishment of additional or intermediate control. In compilation, the features appearing in the model are delineated on the map manuscript.

Geological Mapping of the Ac-H-12 Toharu Quadrangle of Ceres from NASA Dawn Mission

NASA Astrophysics Data System (ADS)

Mest, Scott; Williams, David; Crown, David; Yingst, Aileen; Buczkowski, Debra; Scully, Jennifer; Jaumann, Ralf; Roatsch, Thomas; Preusker, Frank; Nathues, Andres; Hoffmann, Martin; Schaefer, Michael; Raymond, Carol; Russell, Christopher

2016-04-01

The Dawn Science Team is conducting a geologic mapping campaign for Ceres similar to that done for Vesta [1,2], including production of a Survey- and High Altitude Mapping Orbit (HAMO)-based global map and a series of 15 Low Altitude Mapping Orbit (LAMO)-based quadrangle maps. In this abstract we discuss the surface geology and geologic evolution of the Ac-H-12 Toharu Quadrangle (21-66°S, 90-180°E). At the time of this writing LAMO images (35 m/pixel) are just becoming available. The current geologic map of Ac-H-12 was produced using ArcGIS software, and is based on HAMO images (140 m/pixel) and Survey (400 m/pixel) digital terrain models (for topographic information). Dawn Framing Camera (FC) color images were also used to provide context for map unit identification. The map (to be presented as a poster) will be updated from analyses of LAMO images. The Toharu Quadrangle is named after crater Toharu (86 km diameter; 48.3°S, 156°E), and is dominated by smooth terrain in the north, and more heavily cratered terrain in the south. The quad exhibits ~9 km of relief, with the highest elevations (~3.5-4.6 km) found among the western plateau and eastern crater rims, and the lowest elevation found on the floor of crater Chaminuka. Preliminary geologic mapping has defined three regional units (smooth material, smooth Kerwan floor material, and cratered terrain) that dominate the quadrangle, as well as a series of impact crater material units. Smooth materials form nearly flat-lying plains in the northwest part of the quad, and overlies hummocky materials in some areas. These smooth materials extend over a much broader area outside of the quad, and appear to contain some of the lowest crater densities on Ceres. Cratered terrain forms much of the map area and contains rugged surfaces formed largely by the structures and deposits of impact features. In addition to geologic units, a number of geologic features - including crater rims, furrows, scarps, troughs, and impact crater chains - have been mapped. The Toharu Quadrangle predominantly displays impact craters that exhibit a range of sizes - from the limits of resolution to part of the Kerwan basin (280 km diameter) - and preservation styles. The quad also contains a number large (>20 km across) depressions that are only observable in the topographic data. Smaller craters (<40 km) generally appear morphologically "fresh", and their rims are nearly circular and raised above the surrounding terrain. Larger craters, such as Toharu, appear more degraded, exhibiting irregularly shaped, sometimes scalloped, rim structures, and debris lobes on their floors. Numerous craters (> 20 km) contain central mounds; at current FC resolution, it is difficult to discern if these are primary structures (i.e., central peaks) or secondary features. Support of the Dawn Instrument, Operations, & Science Teams is acknowledged. This work is supported by grants from NASA, DLR and MPG. References: [1] Williams D.A. et al. (2014) Icarus, 244, 1-12. [2] Yingst R.A. et al. (2014) PSS, 103, 2-23.

Implementation of AN Unmanned Aerial Vehicle System for Large Scale Mapping

NASA Astrophysics Data System (ADS)

Mah, S. B.; Cryderman, C. S.

2015-08-01

Unmanned Aerial Vehicles (UAVs), digital cameras, powerful personal computers, and software have made it possible for geomatics professionals to capture aerial photographs and generate digital terrain models and orthophotographs without using full scale aircraft or hiring mapping professionals. This has been made possible by the availability of miniaturized computers and sensors, and software which has been driven, in part, by the demand for this technology in consumer items such as smartphones. The other force that is in play is the increasing number of Do-It-Yourself (DIY) people who are building UAVs as a hobby or for professional use. Building a UAV system for mapping is an alternative to purchasing a turnkey system. This paper describes factors to be considered when building a UAV mapping system, the choices made, and the test results of a project using this completed system.

Mapping the Apollo 17 landing site area based on Lunar Reconnaissance Orbiter Camera images and Apollo surface photography

NASA Astrophysics Data System (ADS)

Haase, I.; Oberst, J.; Scholten, F.; Wählisch, M.; Gläser, P.; Karachevtseva, I.; Robinson, M. S.

2012-05-01

Newly acquired high resolution Lunar Reconnaissance Orbiter Camera (LROC) images allow accurate determination of the coordinates of Apollo hardware, sampling stations, and photographic viewpoints. In particular, the positions from where the Apollo 17 astronauts recorded panoramic image series, at the so-called “traverse stations”, were precisely determined for traverse path reconstruction. We analyzed observations made in Apollo surface photography as well as orthorectified orbital images (0.5 m/pixel) and Digital Terrain Models (DTMs) (1.5 m/pixel and 100 m/pixel) derived from LROC Narrow Angle Camera (NAC) and Wide Angle Camera (WAC) images. Key features captured in the Apollo panoramic sequences were identified in LROC NAC orthoimages. Angular directions of these features were measured in the panoramic images and fitted to the NAC orthoimage by applying least squares techniques. As a result, we obtained the surface panoramic camera positions to within 50 cm. At the same time, the camera orientations, North azimuth angles and distances to nearby features of interest were also determined. Here, initial results are shown for traverse station 1 (northwest of Steno Crater) as well as the Apollo Lunar Surface Experiment Package (ALSEP) area.

Stereoscopic Machine-Vision System Using Projected Circles

NASA Technical Reports Server (NTRS)

Mackey, Jeffrey R.

2010-01-01

A machine-vision system capable of detecting obstacles large enough to damage or trap a robotic vehicle is undergoing development. The system includes (1) a pattern generator that projects concentric circles of laser light forward onto the terrain, (2) a stereoscopic pair of cameras that are aimed forward to acquire images of the circles, (3) a frame grabber and digitizer for acquiring image data from the cameras, and (4) a single-board computer that processes the data. The system is being developed as a prototype of machine- vision systems to enable robotic vehicles ( rovers ) on remote planets to avoid craters, large rocks, and other terrain features that could capture or damage the vehicles. Potential terrestrial applications of systems like this one could include terrain mapping, collision avoidance, navigation of robotic vehicles, mining, and robotic rescue. This system is based partly on the same principles as those of a prior stereoscopic machine-vision system in which the cameras acquire images of a single stripe of laser light that is swept forward across the terrain. However, this system is designed to afford improvements over some of the undesirable features of the prior system, including the need for a pan-and-tilt mechanism to aim the laser to generate the swept stripe, ambiguities in interpretation of the single-stripe image, the time needed to sweep the stripe across the terrain and process the data from many images acquired during that time, and difficulty of calibration because of the narrowness of the stripe. In this system, the pattern generator does not contain any moving parts and need not be mounted on a pan-and-tilt mechanism: the pattern of concentric circles is projected steadily in the forward direction. The system calibrates itself by use of data acquired during projection of the concentric-circle pattern onto a known target representing flat ground. The calibration- target image data are stored in the computer memory for use as a template in processing terrain images. During operation on terrain, the images acquired by the left and right cameras are analyzed. The analysis includes (1) computation of the horizontal and vertical dimensions and the aspect ratios of rectangles that bound the circle images and (2) comparison of these aspect ratios with those of the template. Coordinates of distortions of the circles are used to identify and locate objects. If the analysis leads to identification of an object of significant size, then stereoscopicvision algorithms are used to estimate the distance to the object. The time taken in performing this analysis on a single pair of images acquired by the left and right cameras in this system is a fraction of the time taken in processing the many pairs of images acquired in a sweep of the laser stripe across the field of view in the prior system. The results of the analysis include data on sizes and shapes of, and distances and directions to, objects. Coordinates of objects are updated as the vehicle moves so that intelligent decisions regarding speed and direction can be made. The results of the analysis are utilized in a computational decision-making process that generates obstacle-avoidance data and feeds those data to the control system of the robotic vehicle.

The MAP program: building the digital terrain model.

Treesearch

R.H. Twito; R.W. Mifflin; R.J. McGaughey

1987-01-01

PLANS, a software package for integrated timber-harvest planning, uses digital terrain models to provide the topographic data needed to fit harvest and transportation designs to specific terrain. MAP, an integral program in the PLANS package, is used to construct the digital terrain models required by PLANS. MAP establishes digital terrain models using digitizer-traced...

Evaluating Unmanned Aerial Platforms for Cultural Heritage Large Scale Mapping

NASA Astrophysics Data System (ADS)

Georgopoulos, A.; Oikonomou, C.; Adamopoulos, E.; Stathopoulou, E. K.

2016-06-01

When it comes to large scale mapping of limited areas especially for cultural heritage sites, things become critical. Optical and non-optical sensors are developed to such sizes and weights that can be lifted by such platforms, like e.g. LiDAR units. At the same time there is an increase in emphasis on solutions that enable users to get access to 3D information faster and cheaper. Considering the multitude of platforms, cameras and the advancement of algorithms in conjunction with the increase of available computing power this challenge should and indeed is further investigated. In this paper a short review of the UAS technologies today is attempted. A discussion follows as to their applicability and advantages, depending on their specifications, which vary immensely. The on-board cameras available are also compared and evaluated for large scale mapping. Furthermore a thorough analysis, review and experimentation with different software implementations of Structure from Motion and Multiple View Stereo algorithms, able to process such dense and mostly unordered sequence of digital images is also conducted and presented. As test data set, we use a rich optical and thermal data set from both fixed wing and multi-rotor platforms over an archaeological excavation with adverse height variations and using different cameras. Dense 3D point clouds, digital terrain models and orthophotos have been produced and evaluated for their radiometric as well as metric qualities.

Geologic Mapping of the Av-11 Pinaria Quadrangle of Asteroid 4 Vesta

NASA Astrophysics Data System (ADS)

Schenk, P.; Hoogenboom, T.; Williams, D.; Yingst, R. A.; Jaumann, R.; Gaskell, R.; Preusker, F.; Nathues, A.; Roatsch, T.

2012-04-01

As part of the Dawn's orbital mapping investigation of Vesta, the Science Team is conducting geologic mapping of the surface in the form of 15 quadrangle maps, including quadrangle Av-11 (Pinaria). The base map is a monochrome Framing Camera (FC) mosaic at ~70 m/pixel, supplemented by Digital Terrain Models (DTM) and FC color ratio images, both at ~250 m/pixel, slope and contour maps, and Visible and Infrared (VIR) hyperspectral images. Av-11 straddles the 45-degree longitude in the South Polar Region, and is dominated by the rim of the ~505 km south polar topographic feature, Rheasilvia. Sparsely cratered (relatively), Av-11 is dominated by a 20 km high rim scarp (Matronalia Rupes) and by arcuate ridges and troughs forming a radial to spiral pattern across the basin floor. Primary geologic features of Av-11 include the following. Ridge-and-groove terrain radiating arcuately from the central mound unit, interpreted to be structural disruption of the basin floor associated with basin formation. The largest crater in Av-11 is Pinaria (37 km). Mass wasting deposits are observed on its floor. Secondary crater chains and fields are also evident. Mass wasting observed along Rheasilvia rim scarp and in the largest craters indicates scarp failure is a significant process. Parallel fault scarps mark this deposit of slumped debris at the base of 20 km high Matronalia Rupes, which may have formed during or shortly after basin excavation. We interpret most of these deposits as slump material emplaced as a result of the effects of basin formation and collapse. Lobate materials are characterized by lineations and lobate scarps and interpreted as Rheasilvia ejecta deposit outside Rheasilvia rim (the smoothest terrain on Vesta), and are consistent with formation by ejecta. Partial burial of older craters near the edge of these deposits are also observed.

Stereo-vision-based terrain mapping for off-road autonomous navigation

NASA Astrophysics Data System (ADS)

Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

2009-05-01

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as nogo regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

2009-01-01

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as no-go regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

Viking image processing. [digital stereo imagery and computer mosaicking

NASA Technical Reports Server (NTRS)

Green, W. B.

1977-01-01

The paper discusses the camera systems capable of recording black and white and color imagery developed for the Viking Lander imaging experiment. Each Viking Lander image consisted of a matrix of numbers with 512 rows and an arbitrary number of columns up to a maximum of about 9,000. Various techniques were used in the processing of the Viking Lander images, including: (1) digital geometric transformation, (2) the processing of stereo imagery to produce three-dimensional terrain maps, and (3) computer mosaicking of distinct processed images. A series of Viking Lander images is included.

Photogrammetric portrayal of Mars topography.

USGS Publications Warehouse

Wu, S.S.C.

1979-01-01

Special photogrammetric techniques have been developed to portray Mars topography, using Mariner and Viking imaging and nonimaging topographic information and earth-based radar data. Topography is represented by the compilation of maps at three scales: global, intermediate, and very large scale. The global map is a synthesis of topographic information obtained from Mariner 9 and earth-based radar, compiled at a scale of 1:25,000,000 with a contour interval of 1 km; it gives a broad quantitative view of the planet. At intermediate scales, Viking Orbiter photographs of various resolutions are used to compile detailed contour maps of a broad spectrum of prominent geologic features; a contour interval as small as 20 m has been obtained from very high resolution orbital photography. Imagery from the Viking lander facsimile cameras permits construction of detailed, very large scale (1:10) topographic maps of the terrain surrounding the two landers; these maps have a contour interval of 1 cm. This paper presents several new detailed topographic maps of Mars.-Author

Photogrammetric portrayal of Mars topography

NASA Technical Reports Server (NTRS)

Wu, S. S. C.

1979-01-01

Special photogrammetric techniques have been developed to portray Mars topography, using Mariner and Viking imaging and nonimaging topographic information and earth-based radar data. Topography is represented by the compilation of maps at three scales: global, intermediate, and very large scale. The global map is a synthesis of topographic information obtained from Mariner 9 and earth-based radar, compiled at a scale of 1:25,000,000 with a contour interval of 1 km; it gives a broad quantitative view of the planet. At intermediate scales, Viking Orbiter photographs of various resolutions are used to compile detailed contour maps of a broad spectrum of prominent geologic features; a contour interval as small as 20 m has been obtained from very high resolution orbital photography. Imagery from the Viking lander facsimile cameras permits construction of detailed, very large scale (1:10) topographic maps of the terrain surrounding the two landers; these maps have a contour interval of 1 cm. This paper presents several new detailed topographic maps of Mars.

Skylab and ERTS-1 investigations of coastal land use and water properties. [Delaware Bay

NASA Technical Reports Server (NTRS)

Klemas, V. (Principal Investigator); Bartlett, D.; Rogers, R.

1974-01-01

The author has identified the following significant results. ERTS-1 multispectral scanner and Skylab's S190A, S190B, and S192 data products were evaluated for their utility in studying current circulation, suspended sediment concentrations and pollution dispersal in Delaware Bay and in mapping coastal vegetation and land use. Imagery from the ERTS-1 MSS, S190A and S190B cameras shows considerable detail in water structure, circulation, suspended sediment distribution and within waste disposal plumes in shelf waters. These data products were also used in differentiating and mapping twelve coastal vegetation and land use classes. The spatial resolution of the S190A multispectral facility appears to be about 30 to 70 meters while that of the S190B earth terrain camera is about 10 to 30 meters. Such resolution, along with good cartographic quality, indicates a considerable potential for mapping coastal land use and monitoring water properties in estuaries and on the continental shelf. The ERTS-1 MSS has a resolution of about 70-100 meters. Moreover, its regular 18-day cycle permits observation of important changes, including the environmental impact of coastal zone development on coastal vegetation and ecology.

77 FR 14584 - Eleventh Meeting: RTCA Special Committee 217, Joint With EUROCAE Working Group-44, Terrain and...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-12

... Committee 217, Joint With EUROCAE Working Group--44, Terrain and Airport Mapping Databases AGENCY: Federal... Special Committee 217, Joint with EUROCAE Working Group--44, Terrain and Airport Mapping Databases... Committee 217, Joint with EUROCAE Working Group--44, Terrain and Airport Mapping Databases. DATES: The...

Analysis of Performance of Stereoscopic-Vision Software

NASA Technical Reports Server (NTRS)

Kim, Won; Ansar, Adnan; Steele, Robert; Steinke, Robert

2007-01-01

A team of JPL researchers has analyzed stereoscopic vision software and produced a document describing its performance. This software is of the type used in maneuvering exploratory robotic vehicles on Martian terrain. The software in question utilizes correlations between portions of the images recorded by two electronic cameras to compute stereoscopic disparities, which, in conjunction with camera models, are used in computing distances to terrain points to be included in constructing a three-dimensional model of the terrain. The analysis included effects of correlation- window size, a pyramidal image down-sampling scheme, vertical misalignment, focus, maximum disparity, stereo baseline, and range ripples. Contributions of sub-pixel interpolation, vertical misalignment, and foreshortening to stereo correlation error were examined theoretically and experimentally. It was found that camera-calibration inaccuracy contributes to both down-range and cross-range error but stereo correlation error affects only the down-range error. Experimental data for quantifying the stereo disparity error were obtained by use of reflective metrological targets taped to corners of bricks placed at known positions relative to the cameras. For the particular 1,024-by-768-pixel cameras of the system analyzed, the standard deviation of the down-range disparity error was found to be 0.32 pixel.

Autonomous Rock Tracking and Acquisition from a Mars Rover

NASA Technical Reports Server (NTRS)

Maimone, Mark W.; Nesnas, Issa A.; Das, Hari

1999-01-01

Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth. In this paper we describe algorithms we developed for these tasks, and demonstrate them in field experiments using a self-contained Mars Rover prototype, the Rocky 7 rover. Our algorithms perform visual servoing on an elevation map instead of image features, because the latter are subject to abrupt scale changes during the approach. 'This allows us to compensate for the poor odometry that results from motion on loose terrain. We demonstrate the successful grasp of a 5 cm long rock over 1m away using 103-degree field-of-view stereo cameras, and placement of a flexible mast on a rock outcropping over 5m away using 43 degree FOV stereo cameras.

Projection of Stabilized Aerial Imagery Onto Digital Elevation Maps for Geo-Rectified and Jitter-Free Viewing

NASA Technical Reports Server (NTRS)

Ansar, Adnan I.; Brennan, Shane; Clouse, Daniel S.

2012-01-01

As imagery is collected from an airborne platform, an individual viewing the images wants to know from where on the Earth the images were collected. To do this, some information about the camera needs to be known, such as its position and orientation relative to the Earth. This can be provided by common inertial navigation systems (INS). Once the location of the camera is known, it is useful to project an image onto some representation of the Earth. Due to the non-smooth terrain of the Earth (mountains, valleys, etc.), this projection is highly non-linear. Thus, to ensure accurate projection, one needs to project onto a digital elevation map (DEM). This allows one to view the images overlaid onto a representation of the Earth. A code has been developed that takes an image, a model of the camera used to acquire that image, the pose of the camera during acquisition (as provided by an INS), and a DEM, and outputs an image that has been geo-rectified. The world coordinate of the bounds of the image are provided for viewing purposes. The code finds a mapping from points on the ground (DEM) to pixels in the image. By performing this process for all points on the ground, one can "paint" the ground with the image, effectively performing a projection of the image onto the ground. In order to make this process efficient, a method was developed for finding a region of interest (ROI) on the ground to where the image will project. This code is useful in any scenario involving an aerial imaging platform that moves and rotates over time. Many other applications are possible in processing aerial and satellite imagery.

SpaceTime Environmental Image Information for Scene Understanding

DTIC Science & Technology

2016-04-01

public Internet resources such as Google,65 MapQuest,66 Bing,67 and Yahoo Maps.68 Approved for public release; distribution unlimited. 9 Table 3...azimuth angle 3 Terrain and location: USACE AGC — Satellite/aerial imagery and terrain analysis 4 Terrain and location: Google, MapQuest, Bing, Yahoo ...Maps. [accessed 2015 Dec]. https://www.bing.com/maps/. 68. YAHOO ! Maps. [accessed 2015 Dec]. https://maps.yahoo.com/b/. 69. 557th Weather Wing. US

77 FR 29749 - Twelfth Meeting: RTCA Special Committee 217, Joint with EUROCAE WG-44, Terrain and Airport...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-18

... Committee 217, Joint with EUROCAE WG-44, Terrain and Airport Mapping Databases AGENCY: Federal Aviation... 217, Joint with EUROCAE WG-44, Terrain and Airport Mapping Databases. SUMMARY: The FAA is issuing this..., Terrain and Airport Mapping Databases. DATES: The meeting will be held June 18-22, 2012, from 9:00 a.m.-5...

Interactive Map | USDA Plant Hardiness Zone Map

Science.gov Websites

Choose Basemap: Terrain Road Map Satellite Image Turn on Basemap Roads and Labels Zone Color Transparency menu to switch between Terrain, Road Map, and Satellite Image. Turn on Basemap Roads and Labels Click option is available only for Terrain and Satellite Image basemap choices. Zone Color Transparency The

Vegetation Removal from Uav Derived Dsms, Using Combination of RGB and NIR Imagery

NASA Astrophysics Data System (ADS)

Skarlatos, D.; Vlachos, M.

2018-05-01

Current advancements on photogrammetric software along with affordability and wide spreading of Unmanned Aerial Vehicles (UAV), allow for rapid, timely and accurate 3D modelling and mapping of small to medium sized areas. Although the importance and applications of large format aerial overlaps cameras and photographs in Digital Surface Model (DSM) production and LIDAR data is well documented in literature, this is not the case for UAV photography. Additionally, the main disadvantage of photogrammetry is the inability to map the dead ground (terrain), when we deal with areas that include vegetation. This paper assesses the use of near-infrared imagery captured by small UAV platforms to automatically remove vegetation from Digital Surface Models (DSMs) and obtain a Digital Terrain Model (DTM). Two areas were tested, based on the availability of ground reference points, both under trees and among vegetation, as well as on terrain. In addition, RGB and near-infrared UAV photography was captured and processed using Structure from Motion (SfM) and Multi View Stereo (MVS) algorithms to generate DSMs and corresponding colour and NIR orthoimages with 0.2 m and 0.25 m as pixel size respectively for the two test sites. Moreover, orthophotos were used to eliminate the vegetation from the DSMs using NDVI index, thresholding and masking. Following that, different interpolation algorithms, according to the test sites, were applied to fill in the gaps and created DTMs. Finally, a statistic analysis was made using reference terrain points captured on field, both on dead ground and under vegetation to evaluate the accuracy of the whole process and assess the overall accuracy of the derived DTMs in contrast with the DSMs.

Spirit Traverse Map

NASA Technical Reports Server (NTRS)

2004-01-01

The red dot labeled 'Sol 134-141' in this map illustrates when and where NASA's Mars Exploration Rover Spirit acquired the 'Santa Anita Panorama.' Scientists consider this area, located roughly three-fourths of the way between 'Bonneville Crater' and the base of the 'Columbia Hills,' a treasure trove that may be studied for decades to come. The panorama is one of four 360-degree full panoramas the rover has acquired during its mission.

The color thermal inertia data show how well different surface features hold onto heat. Red indicates a high thermal inertia associated with rocky terrain (regions that take longer to warm up and cool down); blue indicates a lower thermal inertia associated with smaller particles and fewer rocks (areas that warm up and cool off quickly). The map comprises background images from the camera on NASA's Mars Global Surveyor orbiter and data from the thermal emission spectrometer on NASA's Mars Odyssey orbiter.

American Society for Photogrammetry and Remote Sensing and ACSM, Fall Convention, Reno, NV, Oct. 4-9, 1987, ASPRS Technical Papers

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1987-01-01

Recent advances in remote-sensing technology and applications are examined in reviews and reports. Topics addressed include the use of Landsat TM data to assess suspended-sediment dispersion in a coastal lagoon, the use of sun incidence angle and IR reflectance levels in mapping old-growth coniferous forests, information-management systems, Large-Format-Camera soil mapping, and the economic potential of Landsat TM winter-wheat crop-condition assessment. Consideration is given to measurement of ephemeral gully erosion by airborne laser ranging, the creation of a multipurpose cadaster, high-resolution remote sensing and the news media, the role of vegetation in the global carbon cycle, PC applications in analytical photogrammetry,more » multispectral geological remote sensing of a suspected impact crater, fractional calculus in digital terrain modeling, and automated mapping using GP-based survey data.« less

Densely Cratered Terrain Near the Terminator

NASA Image and Video Library

2011-08-16

NASA Dawn spacecraft shows densely cratered terrain near Vesta terminator on August 6, 2011. This image was taken through the framing camera clear filter aboard the spacecraft. North is pointing towards the two oclock position.

Orthographic Stereo Correlator on the Terrain Model for Apollo Metric Images

NASA Technical Reports Server (NTRS)

Kim, Taemin; Husmann, Kyle; Moratto, Zachary; Nefian, Ara V.

2011-01-01

A stereo correlation method on the object domain is proposed to generate the accurate and dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce high-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. Given camera parameters of an image pair from bundle adjustment in ASP, a correlation window is defined on the terrain with the predefined surface normal of a post rather than image domain. The squared error of back-projected images on the local terrain is minimized with respect to the post elevation. This single dimensional optimization is solved efficiently and improves the accuracy of the elevation estimate.

75 FR 10552 - Sixth Meeting-RTCA Special Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-08

... 217: Joint With EUROCAE WG- 44 Terrain and Airport Mapping Databases AGENCY: Federal Aviation... Airport Mapping Databases. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 217: Joint with EUROCAE WG-44 Terrain and Airport Mapping Databases. DATES: The...

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2011-05-12

... Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping Databases AGENCY: Federal Aviation... Airport Mapping Databases. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 217: Joint with EUROCAE WG-44 Terrain and Airport Mapping Databases. DATES: The...

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2011-09-01

... 217: Joint With EUROCAE WG- 44 Terrain and Airport Mapping Databases AGENCY: Federal Aviation... Airport Mapping Databases. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 217: Joint with EUROCAE WG-44 Terrain and Airport Mapping Databases. DATES: The...

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2012-08-08

... Committee 217, Terrain and Airport Mapping Databases, Joint With EUROCAE WG-44 AGENCY: Federal Aviation... 217, Terrain and Airport Mapping Databases, Joint with EUROCAE WG-44. SUMMARY: The FAA is issuing this... Mapping Databases, Joint with EUROCAE WG-44. DATES: The meeting will be held September 10-14, 2012, from 9...

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2011-02-03

... Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping Databases AGENCY: Federal Aviation... Airport Mapping Databases. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 217: Joint with EUROCAE WG-44 Terrain and Airport Mapping Databases. DATES: The...

Kite aerial photography for low-cost, ultra-high spatial resolution multi-spectral mapping of intertidal landscapes.

PubMed

Bryson, Mitch; Johnson-Roberson, Matthew; Murphy, Richard J; Bongiorno, Daniel

2013-01-01

Intertidal ecosystems have primarily been studied using field-based sampling; remote sensing offers the ability to collect data over large areas in a snapshot of time that could complement field-based sampling methods by extrapolating them into the wider spatial and temporal context. Conventional remote sensing tools (such as satellite and aircraft imaging) provide data at limited spatial and temporal resolutions and relatively high costs for small-scale environmental science and ecologically-focussed studies. In this paper, we describe a low-cost, kite-based imaging system and photogrammetric/mapping procedure that was developed for constructing high-resolution, three-dimensional, multi-spectral terrain models of intertidal rocky shores. The processing procedure uses automatic image feature detection and matching, structure-from-motion and photo-textured terrain surface reconstruction algorithms that require minimal human input and only a small number of ground control points and allow the use of cheap, consumer-grade digital cameras. The resulting maps combine imagery at visible and near-infrared wavelengths and topographic information at sub-centimeter resolutions over an intertidal shoreline 200 m long, thus enabling spatial properties of the intertidal environment to be determined across a hierarchy of spatial scales. Results of the system are presented for an intertidal rocky shore at Jervis Bay, New South Wales, Australia. Potential uses of this technique include mapping of plant (micro- and macro-algae) and animal (e.g. gastropods) assemblages at multiple spatial and temporal scales.

Kite Aerial Photography for Low-Cost, Ultra-high Spatial Resolution Multi-Spectral Mapping of Intertidal Landscapes

PubMed Central

Bryson, Mitch; Johnson-Roberson, Matthew; Murphy, Richard J.; Bongiorno, Daniel

2013-01-01

Intertidal ecosystems have primarily been studied using field-based sampling; remote sensing offers the ability to collect data over large areas in a snapshot of time that could complement field-based sampling methods by extrapolating them into the wider spatial and temporal context. Conventional remote sensing tools (such as satellite and aircraft imaging) provide data at limited spatial and temporal resolutions and relatively high costs for small-scale environmental science and ecologically-focussed studies. In this paper, we describe a low-cost, kite-based imaging system and photogrammetric/mapping procedure that was developed for constructing high-resolution, three-dimensional, multi-spectral terrain models of intertidal rocky shores. The processing procedure uses automatic image feature detection and matching, structure-from-motion and photo-textured terrain surface reconstruction algorithms that require minimal human input and only a small number of ground control points and allow the use of cheap, consumer-grade digital cameras. The resulting maps combine imagery at visible and near-infrared wavelengths and topographic information at sub-centimeter resolutions over an intertidal shoreline 200 m long, thus enabling spatial properties of the intertidal environment to be determined across a hierarchy of spatial scales. Results of the system are presented for an intertidal rocky shore at Jervis Bay, New South Wales, Australia. Potential uses of this technique include mapping of plant (micro- and macro-algae) and animal (e.g. gastropods) assemblages at multiple spatial and temporal scales. PMID:24069206

Parallel-Processing Software for Correlating Stereo Images

NASA Technical Reports Server (NTRS)

Klimeck, Gerhard; Deen, Robert; Mcauley, Michael; DeJong, Eric

2007-01-01

A computer program implements parallel- processing algorithms for cor relating images of terrain acquired by stereoscopic pairs of digital stereo cameras on an exploratory robotic vehicle (e.g., a Mars rove r). Such correlations are used to create three-dimensional computatio nal models of the terrain for navigation. In this program, the scene viewed by the cameras is segmented into subimages. Each subimage is assigned to one of a number of central processing units (CPUs) opera ting simultaneously.

Horizon Based Orientation Estimation for Planetary Surface Navigation

NASA Technical Reports Server (NTRS)

Bouyssounouse, X.; Nefian, A. V.; Deans, M.; Thomas, A.; Edwards, L.; Fong, T.

2016-01-01

Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets, avoiding negative obstacles visible only in orbital maps, and maintaining good communication connections with ground. This paper describes a horizon solution for precise rover orientation estimation. The detected horizon in imagery provided by the on board navigation cameras is matched with the horizon rendered over the existing terrain model. The set of rotation parameters (roll, pitch yaw) that minimize the cost function between the two horizon curves corresponds to the rover estimated pose.

Geomorphological Mapping on the Southern Hemisphere of Comet 67P/Churyumov-Gerasimenko

NASA Astrophysics Data System (ADS)

Lee, Jui-Chi; Massironi, Matteo; Giacomini, Lorenza; Ip, Wing-Huen; El-Maarry, Mohamed R.

2016-04-01

Since its rendezvous with comet 67P/Churyumov-Gerasimenko on the sixth of August, 2014, the Rosetta spacecraft has carried out close-up observations of the nucleus and coma of this Jupiter family comet. The OSIRIS, the Scientific Imaging Camera System onboard the Rosetta spacecraft, which consists of a narrow-angle and wide-angle camera (NAC and WAC), has made detailed investigations of the physical properties and surface morphology of the comet. From May 2015, the southern hemisphere of the comet became visible and the adaptical resolution was high enough for us to do a detailed analysis of the surface. Previous work shows that the fine particle deposits are the most extensive geomorphological unit in the northern hemisphere. On the contrary, southern hemisphere is dominated by rocky-like stratified terrain. The southern hemisphere of the nucleus surface reveals quite different morphologies from the northern hemisphere. This could be linked to the different insolation condition between northern and southern hemisphere. As a result, surface geological processes could operate with a diverse intensity on the different sides of the comet nucleus. In this work, we provide the geomorphological maps of the southern hemisphere with linear features and geological units identified. The geomorphological maps described in this study allow us to understand the processes and the origin of the comet.

Integrated terrain mapping with digital Landsat images in Queensland, Australia

USGS Publications Warehouse

Robinove, Charles Joseph

1979-01-01

Mapping with Landsat images usually is done by selecting single types of features, such as soils, vegetation, or rocks, and creating visually interpreted or digitally classified maps of each feature. Individual maps can then be overlaid on or combined with other maps to characterize the terrain. Integrated terrain mapping combines several terrain features into each map unit which, in many cases, is more directly related to uses of the land and to methods of land management than the single features alone. Terrain brightness, as measured by the multispectral scanners in Landsat 1 and 2, represents an integration of reflectance from the terrain features within the scanner's instantaneous field of view and is therefore more correlatable with integrated terrain units than with differentiated ones, such as rocks, soils, and vegetation. A test of the feasibilty of the technique of mapping integrated terrain units was conducted in a part of southwestern Queensland, Australia, in cooperation with scientists of the Queensland Department of Primary Industries. The primary purpose was to test the use of digital classification techniques to create a 'land systems map' usable for grazing land management. A recently published map of 'land systems' in the area (made by aerial photograph interpretation and ground surveys), which are integrated terrain units composed of vegetation, soil, topography, and geomorphic features, was used as a basis for comparison with digitally classified Landsat multispectral images. The land systems, in turn, each have a specific grazing capacity for cattle (expressed in beasts per km 2 ) which is estimated following analysis of both research results and property carrying capacities. Landsat images, in computer-compatible tape form, were first contrast-stretched to increase their visual interpretability, and digitally classified by the parallelepiped method into distinct spectral classes to determine their correspondence to the land systems classes and to areally smaller, but readily recognizable, 'land units.' Many land systems appeared as distinct spectral classes or as acceptably homogeneous combinations of several spectral classes. The digitally classified map corresponded to the general geographic patterns of many of the land systems. Statistical correlation of the digitally classified map and the published map was not possible because the published map showed only land systems whereas the digitally classified map showed some land units as well as systems. The general correspondence of spectral classes to the integrated terrain units means that the digital mapping of the units may precede fieldwork and act as a guide to field sampling and detailed terrain unit description as well as measuring of the location, area, and extent of each unit. Extension of the Landsat mapping and classification technique to other arid and semi-arid regions of the world may be feasible.

Large format geiger-mode avalanche photodiode LADAR camera

NASA Astrophysics Data System (ADS)

Yuan, Ping; Sudharsanan, Rengarajan; Bai, Xiaogang; Labios, Eduardo; Morris, Bryan; Nicholson, John P.; Stuart, Gary M.; Danny, Harrison

2013-05-01

Recently Spectrolab has successfully demonstrated a compact 32x32 Laser Detection and Range (LADAR) camera with single photo-level sensitivity with small size, weight, and power (SWAP) budget for threedimensional (3D) topographic imaging at 1064 nm on various platforms. With 20-kHz frame rate and 500- ps timing uncertainty, this LADAR system provides coverage down to inch-level fidelity and allows for effective wide-area terrain mapping. At a 10 mph forward speed and 1000 feet above ground level (AGL), it covers 0.5 square-mile per hour with a resolution of 25 in2/pixel after data averaging. In order to increase the forward speed to fit for more platforms and survey a large area more effectively, Spectrolab is developing 32x128 Geiger-mode LADAR camera with 43 frame rate. With the increase in both frame rate and array size, the data collection rate is improved by 10 times. With a programmable bin size from 0.3 ps to 0.5 ns and 14-bit timing dynamic range, LADAR developers will have more freedom in system integration for various applications. Most of the special features of Spectrolab 32x32 LADAR camera, such as non-uniform bias correction, variable range gate width, windowing for smaller arrays, and short pixel protection, are implemented in this camera.

Low-Cost Ultra-High Spatial and Temporal Resolution Mapping of Intertidal Rock Platforms

NASA Astrophysics Data System (ADS)

Bryson, M.; Johnson-Roberson, M.; Murphy, R.

2012-07-01

Intertidal ecosystems have primarily been studied using field-based sampling; remote sensing offers the ability to collect data over large areas in a snapshot of time which could compliment field-based sampling methods by extrapolating them into the wider spatial and temporal context. Conventional remote sensing tools (such as satellite and aircraft imaging) provide data at relatively course, sub-meter resolutions or with limited temporal resolutions and relatively high costs for small-scale environmental science and ecology studies. In this paper, we describe a low-cost, kite-based imaging system and photogrammetric pipeline that was developed for constructing highresolution, 3D, photo-realistic terrain models of intertidal rocky shores. The processing pipeline uses automatic image feature detection and matching, structure-from-motion and photo-textured terrain surface reconstruction algorithms that require minimal human input and only a small number of ground control points and allow the use of cheap, consumer-grade digital cameras. The resulting maps combine colour and topographic information at sub-centimeter resolutions over an area of approximately 100m, thus enabling spatial properties of the intertidal environment to be determined across a hierarchy of spatial scales. Results of the system are presented for an intertidal rock platform at Cape Banks, Sydney, Australia. Potential uses of this technique include mapping of plant (micro- and macro-algae) and animal (e.g. gastropods) assemblages at multiple spatial and temporal scales.

Real-time terrain storage generation from multiple sensors towards mobile robot operation interface.

PubMed

Song, Wei; Cho, Seoungjae; Xi, Yulong; Cho, Kyungeun; Um, Kyhyun

2014-01-01

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots.

Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface

PubMed Central

Cho, Seoungjae; Xi, Yulong; Cho, Kyungeun

2014-01-01

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots. PMID:25101321

How to Make a Virtual Landscape with Outcrops for Use in Geoscience Teaching

NASA Astrophysics Data System (ADS)

Houghton, J.; Gordon, C.; Craven, B.; Robinson, A.; Lloyd, G. E. E.; Morgan, D. J.

2016-12-01

We are using screen-based virtual reality landscapes to augment the teaching of basic geological field skills and to enhance 3D visualisation skills. Here we focus on the processes of creating these landscapes, both imagined and real, in the Unity 3D game engine. The virtual landscapes are terrains with embedded data for mapping exercises, or draped geological maps for understanding the 3D interaction of the geology with the topography. The nature of the landscapes built depends on the learning outcomes of the intended teaching exercise. For example, a simple model of two hills and a valley over which to drape a series of different geological maps can be used to enhance the understanding of the 3D interaction of the geology with the topography. A more complex topography reflecting the underlying geology can be used for geological mapping exercises. The process starts with a contour image or DEM, which needs to be converted into RAW files to be imported into Unity. Within Unity itself, there are a series of steps needed to create a world around the terrain (the setting of cameras, lighting, skyboxes etc) before the terrain can be painted with vegetation and populated with assets or before a splatmap of the geology can be added. We discuss how additional features such as a GPS unit or compass can be included. We are also working to create landscapes based on real localities, both in response to the demand for greater realism and to support students unable to access the field due to health or mobility issues. This includes adding 3D photogrammetric images of outcrops into the worlds. This process uses the open source/freeware tools VisualSFM and MeshLab to create files suitable to be imported into Unity. This project is a collaboration between the University of Leeds and Leeds College of Art, UK, and all our virtual landscapes are freely available online at www.see.leeds.ac.uk/virtual-landscapes/.

Robust, Flexible Motion Control for the Mars Explorer Rovers

NASA Technical Reports Server (NTRS)

Maimone, Mark; Biesiadecki, Jeffrey

2007-01-01

The Mobility Flight Software, running on computers aboard the Mars Explorer Rover (MER) robotic vehicles Spirit and Opportunity, affords the robustness and flexibility of control to enable safe and effective operation of these vehicles in traversing natural terrain. It can make the vehicles perform specific maneuvers commanded from Earth, and/or can autonomously administer multiple aspects of mobility, including choice of motion, measurement of actual motion, and even selection of targets to be approached. Motion of a vehicle can be commanded by use of multiple layers of control, ranging from motor control at a low level, direct drive operations (e.g., motion along a circular arc, motion along a straight line, or turn in place) at an intermediate level to goal-position driving (that is, driving to a specified location) at a high level. The software can also perform high-level assessment of terrain and selection of safe paths across the terrain: this involves processing of the digital equivalent of a local traversability map generated from images acquired by stereoscopic pairs of cameras aboard the vehicles. Other functions of the software include interacting with the rest of the MER flight software and performing safety checks.

Synthetic Vision Displays for Planetary and Lunar Lander Vehicles

NASA Technical Reports Server (NTRS)

Arthur, Jarvis J., III; Prinzel, Lawrence J., III; Williams, Steven P.; Shelton, Kevin J.; Kramer, Lynda J.; Bailey, Randall E.; Norman, Robert M.

2008-01-01

Aviation research has demonstrated that Synthetic Vision (SV) technology can substantially enhance situation awareness, reduce pilot workload, improve aviation safety, and promote flight path control precision. SV, and related flight deck technologies are currently being extended for application in planetary exploration vehicles. SV, in particular, holds significant potential for many planetary missions since the SV presentation provides a computer-generated view for the flight crew of the terrain and other significant environmental characteristics independent of the outside visibility conditions, window locations, or vehicle attributes. SV allows unconstrained control of the computer-generated scene lighting, terrain coloring, and virtual camera angles which may provide invaluable visual cues to pilots/astronauts, not available from other vision technologies. In addition, important vehicle state information may be conformally displayed on the view such as forward and down velocities, altitude, and fuel remaining to enhance trajectory control and vehicle system status. The paper accompanies a conference demonstration that introduced a prototype NASA Synthetic Vision system for lunar lander spacecraft. The paper will describe technical challenges and potential solutions to SV applications for the lunar landing mission, including the requirements for high-resolution lunar terrain maps, accurate positioning and orientation, and lunar cockpit display concepts to support projected mission challenges.

Processing of A New Digital Orthoimage Map of The Martian Western Hemisphere Using Data Obtained From The Mars Orbiter Camera At A Resolution of 256 Pixel/deg

NASA Astrophysics Data System (ADS)

Wählisch, M.; Niedermaier, G.; van Gasselt, S.; Scholten, F.; Wewel, F.; Roatsch, T.; Matz, K.-D.; Jaumann, R.

We present a new digital orthoimage map of Mars using data obtained from the CCD line scanner Mars Orbiter Camera (MOC) of the Mars Global Surveyor Mis- sion (MGS) [1,2]. The map covers the Mars surface from 0 to 180 West and from 60 South to 60 North with the MDIM2 resolution of 256 pixel/degree and size. Image data processing has been performed using multiple programs, developed by DLR, Technical University of Berlin [3], JPL, and the USGS. 4,339 Context and 183 Geodesy images [2] were included. After radiometric corrections, the images were Mars referenced [4], geometrically corrected [5] and orthoprojected using a global Martian Digital Terrain Model (DTM) with a resolution of 64 pixel/degree, developed at DLR and based on MGS Mars Orbiter Laser Altimeter (MOLA) data [6]. To elim- inate major differences in brightness between the individual images of the mosaics, high- and low-pass filter processing techniques were applied for each image. After filtering, the images were mosaicked without registering or using block adjustment techniques in order to improve the geometric quality. It turns out that the accuracy of the navigation data has such a good quality that the orthoimages fit very well to each other. When merging the MOC mosaic with the MOLA data using IHS- trans- formation, we recognized very good correspondence between these two datasets. We create a topographic image map of the Coprates region (MC­18) adding contour lines derived from the global DTM to the mosaic. These maps are used for geological and morphological interpretations in order to review and improve our current Viking-based knowledge about the Martian surface. References: [1] www.mssss.com, [2] Caplinger, M. and M. Malin, "The Mars Or- biter Camera Geodesy Campaign, JGR, in press, [3] Scholten, F., Vol XXXI, Part B2, Wien 1996, p.351-356, [4] naïf.jpl.nasa.gov, [5] R.L.Kirk. et al. (2001), "Geometric Calibration of the Mars Orbiter Cameras and Coalignment with Mars Orbiter Laser Altimeter", LPSC XXXII, [6] wufs.wustl.edu

High-resolution topomapping of candidate MER landing sites with Mars Orbiter Camera narrow-angle images

USGS Publications Warehouse

Kirk, R.L.; Howington-Kraus, E.; Redding, B.; Galuszka, D.; Hare, T.M.; Archinal, B.A.; Soderblom, L.A.; Barrett, J.M.

2003-01-01

We analyzed narrow-angle Mars Orbiter Camera (MOC-NA) images to produce high-resolution digital elevation models (DEMs) in order to provide topographic and slope information needed to assess the safety of candidate landing sites for the Mars Exploration Rovers (MER) and to assess the accuracy of our results by a variety of tests. The mapping techniques developed also support geoscientific studies and can be used with all present and planned Mars-orbiting scanner cameras. Photogrammetric analysis of MOC stereopairs yields DEMs with 3-pixel (typically 10 m) horizontal resolution, vertical precision consistent with ???0.22 pixel matching errors (typically a few meters), and slope errors of 1-3??. These DEMs are controlled to the Mars Orbiter Laser Altimeter (MOLA) global data set and consistent with it at the limits of resolution. Photoclinometry yields DEMs with single-pixel (typically ???3 m) horizontal resolution and submeter vertical precision. Where the surface albedo is uniform, the dominant error is 10-20% relative uncertainty in the amplitude of topography and slopes after "calibrating" photoclinometry against a stereo DEM to account for the influence of atmospheric haze. We mapped portions of seven candidate MER sites and the Mars Pathfinder site. Safety of the final four sites (Elysium, Gusev, Isidis, and Meridiani) was assessed by mission engineers by simulating landings on our DEMs of "hazard units" mapped in the sites, with results weighted by the probability of landing on those units; summary slope statistics show that most hazard units are smooth, with only small areas of etched terrain in Gusev crater posing a slope hazard.

A Topographic Image Map of The Mc-18 Quadrangle "coprates" At 1: 2,000,000 Using Data Obtained From The Mars Orbiter Camera and The Mars Orbiter Laser Altimeter of Mars Global Surveyor

NASA Astrophysics Data System (ADS)

Niedermaier, G.; Wählisch, M.; van Gasselt, S.; Scholten, F.; Wewel, F.; Roatsch, T.; Matz, K.-D.; Jaumann, R.

We present a new topographic image map of Mars using 8 bit data obtained from the Mars Orbiter Camera (MOC) of the Mars Global Surveyor (MGS) [1]. The new map covers the Mars surface from 270 E (90 W) to 315 E (45 W) and from 0 North to 30 South with a resolution of 231.529 m/pixel (256 pixel/degree). For map creation, digital image processing methods have been applied. Furthermore, we managed to de- velop a general processing method for creating image mosaics based on MOC data. From a total amount of 66,081 images, 4,835 images (4,339 Context and 496 Geodesy images [3]) were finally used for the creation of the mosaic. After radiometric and brightness corrections, the images were Mars referenced [5], geometrically [6] cor- rected and sinusoidal map projected [4] using a global Martian Digital Terrain Model (DTM), developed by the DLR and based on MGS Mars Orbiter Laser Altimeter (MOLA) topographic datasets [2]. Three layers of MOC mosaics were created, which were stacked afterwards. The upper layer contains the context images with a resolution < 250 m/pixel. The middle layer contains the images of the Geodesy Campaign with a resolution < 250 m/pixel. The bottom layer consists of the Geodesy Campaign im- ages with a resolution > 250 m/pixel and < 435 m/pixel. The contour lines have been extracted from the global Martian DTM, developed at DLR. The contour data were imported as vector data into Macromedia Freehand as separate layer and corrected interactively. The map format of 1,15 m × 1,39 m represents the western part of the MDIM2 j quadrangle. The map is used for geological and morphological interpreta- tions in order to review and improve our current Viking-based knowledge about the Martian surface. References: [1] www.msss.com [2] wufs.wustl.edu [3] Caplinger, M. and M. Malin, The Mars Orbiter Camera Geodesy Campaign, JGR, in press. [4] Scholten, F., Vol XXXI, Part B2, Wien, 1996, p.351-356 [5] naif.jpl.nasa.gov [6] Kirk, R.L. et al., Geometric Calibration of the Mars Orbiter Cameras and Coalignment with Mars Orbiter Laser Altimeter, (abstract #1863), LPSC XXXII, 2001

Oceanic Storm Characteristics Off the Kennedy Space Center Coast

NASA Technical Reports Server (NTRS)

Wilson, J.; Simpson, A. A.; Cummins, K. L.; Kiriazes, J. J.; Brown, R. G.; Mata, C. T.

2014-01-01

Natural cloud-to-ground lightning may behave differently depending on the characteristics of the attachment mediums, including the peak current (inferred from radiation fields) and the number of ground strike locations per flash. Existing literature has raised issues over the yea"rs on the behavior of lightning over ocean terrain and these phenomena are not yet well understood. To investigate lightning characteristics over differing terrain we will obtain identical observations over adjacent land and ocean regions during both clear air and thunderstorm periods comparing the electric field behavior over these various terrains. For this, a 3-meter NOAA buoy moored 20NM off the coast of the Kennedy Space Center was instrumented with an electric field mill and New Mexico Tech's slow antenna to measure the electric fields aloft and compared to the existing on-shore electric field mill suite of 31 sensors and a coastal slow antenna. New Mexico Tech's Lightning Mapping Array and the Eastern Range Cloud-to-Ground Lightning Surveillance System, along with the network of high-speed cameras being used to capture cloud-to-ground lightning strikes over the terrain regions to identify a valid data set and verify the electric fields. This is an on-going project with the potential for significant impact on the determination of lightning risk to objects on the ground. This presentation will provide results and instrumentation progress to date.

Assessment of HRSC Digital Terrain Models Produced for the South Polar Residual Cap

NASA Astrophysics Data System (ADS)

Putri, Alfiah Rizky Diana; Sidiropoulos, Panagiotis; Muller, Jan-Peter

2017-04-01

The current Digital Terrain Models available for Mars consist of NASA MOLA (Mars Orbital Laser Altimeter) Digital Terrain Models with an average resolution of 112 m/ pixel (512 pixels/degree) for the polar region. The ESA/DLR High Resolution Stereo Camera is currently orbiting Mars and mapping its surface, 98% with resolution of ≤100 m/pixel and better and 100% at lower resolution [1]. It is possible to produce Digital Terrain Models from HRSC images using various methods. In this study, the method developed on Kim and Muller [2] which uses the VICAR open source program together with photogrammetry sofrware from DLR (Deutschen Zentrums für Luft- und Raumfahrt) with image matching based on the GOTCHA (Gruen-Otto-Chau) algorithm [3]. Digital Terrain Models have been processed over the South Pole with emphasis on areas around South Polar Residual Cap from High Resolution Stereo Camera images [4]. Digital Terrain Models have been produced for 31 orbits out of 149 polar orbits available. This study analyses the quality of the DTMs including an assessment of accuracy of elevations using the MOLA MEGDR (Mission Experiment Gridded Data Records) which has roughly 42 million MOLA PEDR (Precision Experiment Data Records) points between latitudes of 78 o -90 o S. The issues encountered in the production of Digital Terrain Models will be described and the statistical results and assessment method will be presented. The resultant DTMs will be accessible via http://i-Mars.eu/web-GIS References: [1] Neukum, G. et. al, 2004. Mars Express: The Scientific Payload pp. 17-35. [2] Kim, J.-R. and J.-P. Muller. 2009. PSS vol. 57, pp. 2095-2112. [3] Shin, D. and J.-P. Muller. 2012. Pattern Recognition, 45(10), 3795 -3809. [4] Putri, A.R. D., et al., Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B4, 463-469 Acknowledgements: The research leading to these results has received partial funding from the STFC "MSSL Consolidated Grant" ST/K000977/1 and partial support from the European Union's Seventh Framework Programme (FP7/2007-2013) under iMars grant agreement n ˚ 607379. The first author would like to acknowledge support for her studies from Indonesia Endowment Fund for Education (LPDP), Ministry of Finance, Republic of Indonesia. The authors would also like to thank Alexander Dumke (Freie Universitaet Berlin) for providing the EXTORI exterior orientation elements which were critical in the production of accuracy geolocations.

Investigation of Terrain Analysis and Classification Methods for Ground Vehicles

DTIC Science & Technology

2012-08-27

exteroceptive terrain classifier takes exteroceptive sensor data (here, color stereo images of the terrain) as its input and returns terrain class...Mishkin & Laubach, 2006), the rover cannot safely travel beyond the distance it can image with its cameras, which has been as little as 15 meters or...field of view roughly 44°×30°, capturing pairs of color images at 640×480 pixels each (Videre Design, 2001). Range data were extracted from the stereo

Lunar terrain mapping and relative-roughness analysis

NASA Technical Reports Server (NTRS)

Rowan, L. C.; Mccauley, J. F.; Holm, E. A.

1971-01-01

Terrain maps of the equatorial zone were prepared at scales of 1:2,000,000 and 1:1,000,000 to classify lunar terrain with respect to roughness and to provide a basis for selecting sites for Surveyor and Apollo landings, as well as for Ranger and Lunar Orbiter photographs. Lunar terrain was described by qualitative and quantitative methods and divided into four fundamental classes: maria, terrae, craters, and linear features. Some 35 subdivisions were defined and mapped throughout the equatorial zone, and, in addition, most of the map units were illustrated by photographs. The terrain types were analyzed quantitatively to characterize and order their relative roughness characteristics. For some morphologically homogeneous mare areas, relative roughness can be extrapolated to the large scales from measurements at small scales.

Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

NASA Astrophysics Data System (ADS)

Snider, Ross K.; Arathorn, David W.

2006-05-01

A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

Vegetation and terrain mapping in Alaska using Landsat MSS and digital terrain data

USGS Publications Warehouse

Shasby, Mark; Carneggie, David M.

1986-01-01

During the past 5 years, the U.S. Geological Survey's (USGS) Earth Resources Observation Systems (EROS) Data Center Field Office in Anchorage, Alaska has worked cooperatively with Federal and State resource management agencies to produce land-cover and terrain maps for 245 million acres of Alaska. The need for current land-cover information in Alaska comes principally from the mandates of the Alaska National Interest Lands Conservation Act (ANILCA), December 1980, which requires major land management agencies to prepare comprehensive management plans. The land-cover mapping projects integrate digital Landsat data, terrain data, aerial photographs, and field data. The resultant land-cover and terrain maps and associated data bases are used for resource assessment, management, and planning by many Alaskan agencies including the U.S. Fish and Wildlife Service, U.S. Forest Service, Bureau of Land Management, and Alaska Department of Natural Resources. Applications addressed through use of the digital land-cover and terrain data bases range from comprehensive refuge planning to multiphased sampling procedures designed to inventory vegetation statewide. The land-cover mapping programs in Alaska demonstrate the operational utility of digital Landsat data and have resulted in a new land-cover mapping program by the USGS National Mapping Division to compile 1:250,000-scale land-cover maps in Alaska using a common statewide land-cover map legend.

Terrain Model Registration for Single Cycle Instrument Placement

NASA Technical Reports Server (NTRS)

Deans, Matthew; Kunz, Clay; Sargent, Randy; Pedersen, Liam

2003-01-01

This paper presents an efficient and robust method for registration of terrain models created using stereo vision on a planetary rover. Our approach projects two surface models into a virtual depth map, rendering the models as they would be seen from a single range sensor. Correspondence is established based on which points project to the same location in the virtual range sensor. A robust norm of the deviations in observed depth is used as the objective function, and the algorithm searches for the rigid transformation which minimizes the norm. An initial coarse search is done using rover pose information from odometry and orientation sensing. A fine search is done using Levenberg-Marquardt. Our method enables a planetary rover to keep track of designated science targets as it moves, and to hand off targets from one set of stereo cameras to another. These capabilities are essential for the rover to autonomously approach a science target and place an instrument in contact in a single command cycle.

Lunar and Planetary Science XXXV: Future Missions to the Moon

NASA Technical Reports Server (NTRS)

2004-01-01

This document contained the following topics: A Miniature Mass Spectrometer Module; SELENE Gamma Ray Spectrometer Using Ge Detector Cooled by Stirling Cryocooler; Lunar Elemental Composition and Investigations with D-CIXS X-Ray Mapping Spectrometer on SMART-1; X-Ray Fluorescence Spectrometer Onboard the SELENE Lunar Orbiter: Its Science and Instrument; Detectability of Degradation of Lunar Impact Craters by SELENE Terrain Camera; Study of the Apollo 16 Landing Site: As a Standard Site for the SELENE Multiband Imager; Selection of Targets for the SMART-1 Infrared Spectrometer (SIR); Development of a Telescopic Imaging Spectrometer for the Moon; The Lunar Seismic Network: Mission Update.

Mapping the Apollo 17 Astronauts' Positions Based on LROC Data and Apollo Surface Photography

NASA Astrophysics Data System (ADS)

Haase, I.; Oberst, J.; Scholten, F.; Gläser, P.; Wählisch, M.; Robinson, M. S.

2011-10-01

The positions from where the Apollo 17 astronauts recorded panoramic image series, e.g. at the so-called "traverse stations", were precisely determined using ortho-images (0.5 m/pxl) as well as Digital Terrain Models (DTM) (1.5 m/pxl and 100 m/pxl) derived from Lunar Reconnaissance Orbiter Camera (LROC) data. Features imaged in the Apollo panoramas were identified in LROC ortho-images. Least-squares techniques were applied to angles measured in the panoramas to determine the astronaut's position to within the ortho-image pixel. The result of our investigation of Traverse Station 1 in the north-west of Steno Crater is presented.

Highly Protable Airborne Multispectral Imaging System

NASA Technical Reports Server (NTRS)

Lehnemann, Robert; Mcnamee, Todd

2001-01-01

A portable instrumentation system is described that includes and airborne and a ground-based subsytem. It can acquire multispectral image data over swaths of terrain ranging in width from about 1.5 to 1 km. The system was developed especially for use in coastal environments and is well suited for performing remote sensing and general environmental monitoring. It includes a small,munpilotaed, remotely controlled airplance that carries a forward-looking camera for navigation, three downward-looking monochrome video cameras for imaging terrain in three spectral bands, a video transmitter, and a Global Positioning System (GPS) reciever.

Preface: The Chang'e-3 lander and rover mission to the Moon

NASA Astrophysics Data System (ADS)

Ip, Wing-Huen; Yan, Jun; Li, Chun-Lai; Ouyang, Zi-Yuan

2014-12-01

The Chang'e-3 (CE-3) lander and rover mission to the Moon was an intermediate step in China's lunar exploration program, which will be followed by a sample return mission. The lander was equipped with a number of remote-sensing instruments including a pair of cameras (Landing Camera and Terrain Camera) for recording the landing process and surveying terrain, an extreme ultraviolet camera for monitoring activities in the Earth's plasmasphere, and a first-ever Moon-based ultraviolet telescope for astronomical observations. The Yutu rover successfully carried out close-up observations with the Panoramic Camera, mineralogical investigations with the VIS-NIR Imaging Spectrometer, study of elemental abundances with the Active Particle-induced X-ray Spectrometer, and pioneering measurements of the lunar subsurface with Lunar Penetrating Radar. This special issue provides a collection of key information on the instrumental designs, calibration methods and data processing procedures used by these experiments with a perspective of facilitating further analyses of scientific data from CE-3 in preparation for future missions.

Computer processing of Mars Odyssey THEMIS IR imaging, MGS MOLA altimetry and Mars Express stereo imaging to locate Airy-0, the Mars prime meridian reference

NASA Astrophysics Data System (ADS)

Duxbury, Thomas; Neukum, Gerhard; Smith, David E.; Christensen, Philip; Neumann, Gregory; Albee, Arden; Caplinger, Michael; Seregina, N. V.; Kirk, Randolph L.

The small crater Airy-0 was selected from Mariner 9 images to be the reference for the Mars prime meridian. Initial analyses were made in year 2000 to tie Viking Orbiter and Mars Orbiter Camera images of Airy-0 to the evolving Mars Orbiter Laser Altimeter global digital terrain model to improve the location accuracy of Airy-0. Based upon this tie and radiometric tracking of landers / rovers from earth, new expressions for the Mars spin axis direction, spin rate and prime meridian epoch value were produced to define the orientation of the Martian surface in inertial space over time. Now that the Mars Global Surveyor mission and the Mars Orbiter Laser Altimeter global digital terrain model are complete, a more exhaustive study has been performed to determine the location of Airy-0 relative to the global terrain grid. THEMIS IR image cubes of the Airy and Gale crater regions were tied to the global terrain grid using precision stereo photogrammetric image processing techniques. The Airy-0 location was determined to be within 50 meters of the currently defined IAU prime meridian, with this offset at the limiting absolute accuracy of the global terrain grid. Additional outputs of this study were a controlled multi-band photomosaic of Airy, precision alignment and geometric models of the ten THEMIS IR bands and a controlled multi-band photomosaic of Gale crater used to validate the Mars Surface Laboratory operational map products supporting their successful landing on Mars.

Ground moving target geo-location from monocular camera mounted on a micro air vehicle

NASA Astrophysics Data System (ADS)

Guo, Li; Ang, Haisong; Zheng, Xiangming

2011-08-01

The usual approaches to unmanned air vehicle(UAV)-to-ground target geo-location impose some severe constraints to the system, such as stationary objects, accurate geo-reference terrain database, or ground plane assumption. Micro air vehicle(MAV) works with characteristics including low altitude flight, limited payload and onboard sensors' low accuracy. According to these characteristics, a method is developed to determine the location of ground moving target which imaged from the air using monocular camera equipped on MAV. This method eliminates the requirements for terrain database (elevation maps) and altimeters that can provide MAV's and target's altitude. Instead, the proposed method only requires MAV flight status provided by its inherent onboard navigation system which includes inertial measurement unit(IMU) and global position system(GPS). The key is to get accurate information on the altitude of the ground moving target. First, Optical flow method extracts background static feature points. Setting a local region around the target in the current image, The features which are on the same plane with the target in this region are extracted, and are retained as aided features. Then, inverse-velocity method calculates the location of these points by integrated with aircraft status. The altitude of object, which is calculated by using position information of these aided features, combining with aircraft status and image coordinates, geo-locate the target. Meanwhile, a framework with Bayesian estimator is employed to eliminate noise caused by camera, IMU and GPS. Firstly, an extended Kalman filter(EKF) provides a simultaneous localization and mapping solution for the estimation of aircraft states and aided features location which defines the moving target local environment. Secondly, an unscented transformation(UT) method determines the estimated mean and covariance of target location from aircraft states and aided features location, and then exports them for the moving target Kalman filter(KF). Experimental results show that our method can instantaneously geo-locate the moving target by operator's single click and can reach 15 meters accuracy for an MAV flying at 200 meters above the ground.

A method and results of color calibration for the Chang'e-3 terrain camera and panoramic camera

NASA Astrophysics Data System (ADS)

Ren, Xin; Li, Chun-Lai; Liu, Jian-Jun; Wang, Fen-Fei; Yang, Jian-Feng; Liu, En-Hai; Xue, Bin; Zhao, Ru-Jin

2014-12-01

The terrain camera (TCAM) and panoramic camera (PCAM) are two of the major scientific payloads installed on the lander and rover of the Chang'e 3 mission respectively. They both use a Bayer color filter array covering CMOS sensor to capture color images of the Moon's surface. RGB values of the original images are related to these two kinds of cameras. There is an obvious color difference compared with human visual perception. This paper follows standards published by the International Commission on Illumination to establish a color correction model, designs the ground calibration experiment and obtains the color correction coefficient. The image quality has been significantly improved and there is no obvious color difference in the corrected images. Ground experimental results show that: (1) Compared with uncorrected images, the average color difference of TCAM is 4.30, which has been reduced by 62.1%. (2) The average color differences of the left and right cameras in PCAM are 4.14 and 4.16, which have been reduced by 68.3% and 67.6% respectively.

Pole Photogrammetry with AN Action Camera for Fast and Accurate Surface Mapping

NASA Astrophysics Data System (ADS)

Gonçalves, J. A.; Moutinho, O. F.; Rodrigues, A. C.

2016-06-01

High resolution and high accuracy terrain mapping can provide height change detection for studies of erosion, subsidence or land slip. A UAV flying at a low altitude above the ground, with a compact camera, acquires images with resolution appropriate for these change detections. However, there may be situations where different approaches may be needed, either because higher resolution is required or the operation of a drone is not possible. Pole photogrammetry, where a camera is mounted on a pole, pointing to the ground, is an alternative. This paper describes a very simple system of this kind, created for topographic change detection, based on an action camera. These cameras have high quality and very flexible image capture. Although radial distortion is normally high, it can be treated in an auto-calibration process. The system is composed by a light aluminium pole, 4 meters long, with a 12 megapixel GoPro camera. Average ground sampling distance at the image centre is 2.3 mm. The user moves along a path, taking successive photos, with a time lapse of 0.5 or 1 second, and adjusting the speed in order to have an appropriate overlap, with enough redundancy for 3D coordinate extraction. Marked ground control points are surveyed with GNSS for precise georeferencing of the DSM and orthoimage that are created by structure from motion processing software. An average vertical accuracy of 1 cm could be achieved, which is enough for many applications, for example for soil erosion. The GNSS survey in RTK mode with permanent stations is now very fast (5 seconds per point), which results, together with the image collection, in a very fast field work. If an improved accuracy is needed, since image resolution is 1/4 cm, it can be achieved using a total station for the control point survey, although the field work time increases.

Heterogeneous Vision Data Fusion for Independently Moving Cameras

DTIC Science & Technology

2010-03-01

target detection , tracking , and identification over a large terrain. The goal of the project is to investigate and evaluate the existing image...fusion algorithms, develop new real-time algorithms for Category-II image fusion, and apply these algorithms in moving target detection and tracking . The...moving target detection and classification. 15. SUBJECT TERMS Image Fusion, Target Detection , Moving Cameras, IR Camera, EO Camera 16. SECURITY

Chosen Aspects of the Production of the Basic Map Using Uav Imagery

NASA Astrophysics Data System (ADS)

Kedzierski, M.; Fryskowska, A.; Wierzbicki, D.; Nerc, P.

2016-06-01

For several years there has been an increasing interest in the use of unmanned aerial vehicles in acquiring image data from a low altitude. Considering the cost-effectiveness of the flight time of UAVs vs. conventional airplanes, the use of the former is advantageous when generating large scale accurate ortophotos. Through the development of UAV imagery, we can update large-scale basic maps. These maps are cartographic products which are used for registration, economic, and strategic planning. On the basis of these maps other cartographic maps are produced, for example maps used building planning. The article presents an assessesment of the usefulness of orthophotos based on UAV imagery to upgrade the basic map. In the research a compact, non-metric camera, mounted on a fixed wing powered by an electric motor was used. The tested area covered flat, agricultural and woodland terrains. The processing and analysis of orthorectification were carried out with the INPHO UASMaster programme. Due to the effect of UAV instability on low-altitude imagery, the use of non-metric digital cameras and the low-accuracy GPS-INS sensors, the geometry of images is visibly lower were compared to conventional digital aerial photos (large values of phi and kappa angles). Therefore, typically, low-altitude images require large along- and across-track direction overlap - usually above 70 %. As a result of the research orthoimages were obtained with a resolution of 0.06 meters and a horizontal accuracy of 0.10m. Digitized basic maps were used as the reference data. The accuracy of orthoimages vs. basic maps was estimated based on the study and on the available reference sources. As a result, it was found that the geometric accuracy and interpretative advantages of the final orthoimages allow the updating of basic maps. It is estimated that such an update of basic maps based on UAV imagery reduces processing time by approx. 40%.

USGS Maps

USGS Publications Warehouse

,

1994-01-01

Most USGS topographic maps use brown contours to show the shape and elevation of the terrain. Elevations are usually shown in feet, but on some maps they are in meters. Contour intervals vary, depending mainly on the scale of the map and the type of terrain.

Extracting accurate and precise topography from LROC narrow angle camera stereo observations

NASA Astrophysics Data System (ADS)

Henriksen, M. R.; Manheim, M. R.; Burns, K. N.; Seymour, P.; Speyerer, E. J.; Deran, A.; Boyd, A. K.; Howington-Kraus, E.; Rosiek, M. R.; Archinal, B. A.; Robinson, M. S.

2017-02-01

The Lunar Reconnaissance Orbiter Camera (LROC) includes two identical Narrow Angle Cameras (NAC) that each provide 0.5 to 2.0 m scale images of the lunar surface. Although not designed as a stereo system, LROC can acquire NAC stereo observations over two or more orbits using at least one off-nadir slew. Digital terrain models (DTMs) are generated from sets of stereo images and registered to profiles from the Lunar Orbiter Laser Altimeter (LOLA) to improve absolute accuracy. With current processing methods, DTMs have absolute accuracies better than the uncertainties of the LOLA profiles and relative vertical and horizontal precisions less than the pixel scale of the DTMs (2-5 m). We computed slope statistics from 81 highland and 31 mare DTMs across a range of baselines. For a baseline of 15 m the highland mean slope parameters are: median = 9.1°, mean = 11.0°, standard deviation = 7.0°. For the mare the mean slope parameters are: median = 3.5°, mean = 4.9°, standard deviation = 4.5°. The slope values for the highland terrain are steeper than previously reported, likely due to a bias in targeting of the NAC DTMs toward higher relief features in the highland terrain. Overlapping DTMs of single stereo sets were also combined to form larger area DTM mosaics that enable detailed characterization of large geomorphic features. From one DTM mosaic we mapped a large viscous flow related to the Orientale basin ejecta and estimated its thickness and volume to exceed 300 m and 500 km3, respectively. Despite its ∼3.8 billion year age the flow still exhibits unconfined margin slopes above 30°, in some cases exceeding the angle of repose, consistent with deposition of material rich in impact melt. We show that the NAC stereo pairs and derived DTMs represent an invaluable tool for science and exploration purposes. At this date about 2% of the lunar surface is imaged in high-resolution stereo, and continued acquisition of stereo observations will serve to strengthen our knowledge of the Moon and geologic processes that occur across all of the terrestrial planets.

Perception for rugged terrain

NASA Technical Reports Server (NTRS)

Kweon, In SO; Hebert, Martial; Kanade, Takeo

1989-01-01

A three-dimensional perception system for building a geometrical description of rugged terrain environments from range image data is presented with reference to the exploration of the rugged terrain of Mars. An intermediate representation consisting of an elevation map that includes an explicit representation of uncertainty and labeling of the occluded regions is proposed. The locus method used to convert range image to an elevation map is introduced, along with an uncertainty model based on this algorithm. Both the elevation map and the locus method are the basis of a terrain matching algorithm which does not assume any correspondences between range images. The two-stage algorithm consists of a feature-based matching algorithm to compute an initial transform and an iconic terrain matching algorithm to merge multiple range images into a uniform representation. Terrain modeling results on real range images of rugged terrain are presented. The algorithms considered are a fundamental part of the perception system for the Ambler, a legged locomotor.

Map Interpretation and Terrain Analysis Course (MITAC) for Infantrymen: Illustrated Lectures

DTIC Science & Technology

1982-01-01

Factors Influencing Map Design . . . . . ..... ............ 4 Interpretation of Terrain Relief and Other Topographic Features...Institute (ARI) sponsored a project to design and develop a map interpretation and terrain analysis course (MITAC) to improve the ability of Army...helicopter pilots to navigate accurately when flying at nap-of-the-earth (NOE) altitudes (McGrath, 1975; McGrath & Foster, 1975). MITAC was designed to

Mapping informal small-scale mining features in a data-sparse tropical environment with a small UAS

USGS Publications Warehouse

Chirico, Peter G.; Dewitt, Jessica D.

2017-01-01

This study evaluates the use of a small unmanned aerial system (UAS) to collect imagery over artisanal mining sites in West Africa. The purpose of this study is to consider how very high-resolution imagery and digital surface models (DSMs) derived from structure-from-motion (SfM) photogrammetric techniques from a small UAS can fill the gap in geospatial data collection between satellite imagery and data gathered during field work to map and monitor informal mining sites in tropical environments. The study compares both wide-angle and narrow field of view camera systems in the collection and analysis of high-resolution orthoimages and DSMs of artisanal mining pits. The results of the study indicate that UAS imagery and SfM photogrammetric techniques permit DSMs to be produced with a high degree of precision and relative accuracy, but highlight the challenges of mapping small artisanal mining pits in remote and data sparse terrain.

Cognitive Mapping Based on Conjunctive Representations of Space and Movement

PubMed Central

Zeng, Taiping; Si, Bailu

2017-01-01

It is a challenge to build robust simultaneous localization and mapping (SLAM) system in dynamical large-scale environments. Inspired by recent findings in the entorhinal–hippocampal neuronal circuits, we propose a cognitive mapping model that includes continuous attractor networks of head-direction cells and conjunctive grid cells to integrate velocity information by conjunctive encodings of space and movement. Visual inputs from the local view cells in the model provide feedback cues to correct drifting errors of the attractors caused by the noisy velocity inputs. We demonstrate the mapping performance of the proposed cognitive mapping model on an open-source dataset of 66 km car journey in a 3 km × 1.6 km urban area. Experimental results show that the proposed model is robust in building a coherent semi-metric topological map of the entire urban area using a monocular camera, even though the image inputs contain various changes caused by different light conditions and terrains. The results in this study could inspire both neuroscience and robotic research to better understand the neural computational mechanisms of spatial cognition and to build robust robotic navigation systems in large-scale environments. PMID:29213234

Improved TDEM formation using fused ladar/digital imagery from a low-cost small UAV

NASA Astrophysics Data System (ADS)

Khatiwada, Bikalpa; Budge, Scott E.

2017-05-01

Formation of a Textured Digital Elevation Model (TDEM) has been useful in many applications in the fields of agriculture, disaster response, terrain analysis and more. Use of a low-cost small UAV system with a texel camera (fused lidar/digital imagery) can significantly reduce the cost compared to conventional aircraft-based methods. This paper reports continued work on this problem reported in a previous paper by Bybee and Budge, and reports improvements in performance. A UAV fitted with a texel camera is flown at a fixed height above the terrain and swaths of texel image data of the terrain below is taken continuously. Each texel swath has one or more lines of lidar data surrounded by a narrow strip of EO data. Texel swaths are taken such that there is some overlap from one swath to its adjacent swath. The GPS/IMU fitted on the camera also give coarse knowledge of attitude and position. Using this coarse knowledge and the information from the texel image, the error in the camera position and attitude is reduced which helps in producing an accurate TDEM. This paper reports improvements in the original work by using multiple lines of lidar data per swath. The final results are shown and analyzed for numerical accuracy.

Terrain intelligence Chita Oblast (U.S.S.R.)

USGS Publications Warehouse

,

1943-01-01

The following folio of maps and explanatory tables outlines the principal terrain features of the Chita Oblast.  Each map and table is devoted to a specialized set of problems; together they cover such subjects as terrain appreciations, rivers, surface-water and ground-water supplies, construction materials, fuels, suitability for temporary roads and airfields, mineral resources, and geology.  These maps and data were complied by the United States Geological Survey.

Map Reading beyond Information Given: The Expert Orienteers' Internal Knowledge about Terrain.

ERIC Educational Resources Information Center

Murakoshi, Shin

1990-01-01

Compares novice and expert orienteers' map interpretation skills. Subjects asked to judge terrain from maps, including conditions inferable without corresponding map symbols. Experts' interpretation of identical symbols implies use of experiential knowledge. Internal knowledge characteristics discussed in terms of episodic-semantic memory…

Comparing Selections of Environmental Variables for Ecological Studies: A Focus on Terrain Attributes.

PubMed

Lecours, Vincent; Brown, Craig J; Devillers, Rodolphe; Lucieer, Vanessa L; Edinger, Evan N

2016-01-01

Selecting appropriate environmental variables is a key step in ecology. Terrain attributes (e.g. slope, rugosity) are routinely used as abiotic surrogates of species distribution and to produce habitat maps that can be used in decision-making for conservation or management. Selecting appropriate terrain attributes for ecological studies may be a challenging process that can lead users to select a subjective, potentially sub-optimal combination of attributes for their applications. The objective of this paper is to assess the impacts of subjectively selecting terrain attributes for ecological applications by comparing the performance of different combinations of terrain attributes in the production of habitat maps and species distribution models. Seven different selections of terrain attributes, alone or in combination with other environmental variables, were used to map benthic habitats of German Bank (off Nova Scotia, Canada). 29 maps of potential habitats based on unsupervised classifications of biophysical characteristics of German Bank were produced, and 29 species distribution models of sea scallops were generated using MaxEnt. The performances of the 58 maps were quantified and compared to evaluate the effectiveness of the various combinations of environmental variables. One of the combinations of terrain attributes-recommended in a related study and that includes a measure of relative position, slope, two measures of orientation, topographic mean and a measure of rugosity-yielded better results than the other selections for both methodologies, confirming that they together best describe terrain properties. Important differences in performance (up to 47% in accuracy measurement) and spatial outputs (up to 58% in spatial distribution of habitats) highlighted the importance of carefully selecting variables for ecological applications. This paper demonstrates that making a subjective choice of variables may reduce map accuracy and produce maps that do not adequately represent habitats and species distributions, thus having important implications when these maps are used for decision-making.

Using Visual Odometry to Estimate Position and Attitude

NASA Technical Reports Server (NTRS)

Maimone, Mark; Cheng, Yang; Matthies, Larry; Schoppers, Marcel; Olson, Clark

2007-01-01

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Applications of Skylab data to land use and climatological analysis

NASA Technical Reports Server (NTRS)

Alexander, R. H. (Principal Investigator); Lewis, J. E., Jr.; Lins, H. F., Jr.; Jenner, C. B.; Outcalt, S. I.; Pease, R. W.

1976-01-01

The author has identified the following significant results. Skylab study in Central Atlantic Regional Ecological Test Site encompassed two separate but related tasks: (1) evaluation of photographic sensors S190A and B as sources of land use data for planning and managing land resources in major metropolitan regions, and (2) evaluation of the multispectral scanner S192 used in conjunction with associated data and analytical techniques as a data source on urban climates and the surface energy balance. Photographs from the Skylab S190B earth terrain camera were of greatest interest in the land use analysis task; they were of sufficiently high resolution to identify and map many level 2 and 3 land use categories. After being corrected to allow for atmosphere effects, output from thermal and visible bands of the S192 was employed in constructing computer map plots of albedo and surface temperature.

Digital photogrammetric analysis of the IMP camera images: Mapping the Mars Pathfinder landing site in three dimensions

USGS Publications Warehouse

Kirk, R.L.; Howington-Kraus, E.; Hare, T.; Dorrer, E.; Cook, D.; Becker, K.; Thompson, K.; Redding, B.; Blue, J.; Galuszka, D.; Lee, E.M.; Gaddis, L.R.; Johnson, J. R.; Soderblom, L.A.; Ward, A.W.; Smith, P.H.; Britt, D.T.

1999-01-01

This paper describes our photogrammetric analysis of the Imager for Mars Pathfinder data, part of a broader program of mapping the Mars Pathfinder landing site in support of geoscience investigations. This analysis, carried out primarily with a commercial digital photogrammetric system, supported by our in-house Integrated Software for Imagers and Spectrometers (ISIS), consists of three steps: (1) geometric control: simultaneous solution for refined estimates of camera positions and pointing plus three-dimensional (3-D) coordinates of ???103 features sitewide, based on the measured image coordinates of those features; (2) topographic modeling: identification of ???3 ?? 105 closely spaced points in the images and calculation (based on camera parameters from step 1) of their 3-D coordinates, yielding digital terrain models (DTMs); and (3) geometric manipulation of the data: combination of the DTMs from different stereo pairs into a sitewide model, and reprojection of image data to remove parallax between the different spectral filters in the two cameras and to provide an undistorted planimetric view of the site. These processes are described in detail and example products are shown. Plans for combining the photogrammetrically derived topographic data with spectrophotometry are also described. These include photometric modeling using surface orientations from the DTM to study surface microtextures and improve the accuracy of spectral measurements, and photoclinometry to refine the DTM to single-pixel resolution where photometric properties are sufficiently uniform. Finally, the inclusion of rover images in a joint photogrammetric analysis with IMP images is described. This challenging task will provide coverage of areas hidden to the IMP, but accurate ranging of distant features can be achieved only if the lander is also visible in the rover image used. Copyright 1999 by the American Geophysical Union.

Catchment-Scale Terrain Modelling with Structure-from-Motion Photogrammetry: a replacement for airborne lidar?

NASA Astrophysics Data System (ADS)

Brasington, James; James, Joe; Cook, Simon; Cox, Simon; Lotsari, Eliisa; McColl, Sam; Lehane, Niall; Williams, Richard; Vericat, Damia

2016-04-01

In recent years, 3D terrain reconstructions based on Structure-from-Motion photogrammetry have dramatically democratized the availability of high quality topographic data. This approach involves the use of a non-linear bundle adjustment to estimate simultaneously camera position, pose, distortion and 3D model coordinates. In contrast to traditional aerial photogrammetry, the bundle adjustment is typically solved without external constraints and instead ground control is used a posteriori to transform the modelled coordinates to an established datum using a similarity transformation. The limited data requirements, coupled with the ability to self-calibrate compact cameras, has led to a burgeoning of applications using low-cost imagery acquired terrestrially or from low-altitude platforms. To date, most applications have focused on relatively small spatial scales (0.1-5 Ha), where relaxed logistics permit the use of dense ground control networks and high resolution, close-range photography. It is less clear whether this low-cost approach can be successfully upscaled to tackle larger, watershed-scale projects extending over 102-3 km2 where it could offer a competitive alternative to established landscape modelling with airborne lidar. At such scales, compromises over the density of ground control, the speed and height of sensor platform and related image properties are inevitable. In this presentation we provide a systematic assessment of the quality of large-scale SfM terrain products derived for over 80 km2 of the braided Dart River and its catchment in the Southern Alps of NZ. Reference data in the form of airborne and terrestrial lidar are used to quantify the quality of 3D reconstructions derived from helicopter photography and used to establish baseline uncertainty models for geomorphic change detection. Results indicate that camera network design is a key determinant of model quality, and that standard aerial photogrammetric networks based on strips of nadir photography can lead to unstable camera calibration and systematic errors that are difficult to model with sparse ground control. We demonstrate how a low cost multi-camera platform providing both nadir and oblique imagery can support robust camera calibration, enabling the generation of high quality, large-scale terrain products that are suitable for precision fluvial change detection.

THEMIS high-resolution digital terrain: Topographic and thermophysical mapping of Gusev Crater, Mars

USGS Publications Warehouse

Cushing, G.E.; Titus, T.N.; Soderblom, L.A.; Kirk, R.L.

2009-01-01

We discuss a new technique to generate high-resolution digital terrain models (DTMs) and to quantitatively derive and map slope-corrected thermophysical properties such as albedo, thermal inertia, and surface temperatures. This investigation is a continuation of work started by Kirk et al. (2005), who empirically deconvolved Thermal Emission Imaging System (THEMIS) visible and thermal infrared data of this area, isolating topographic information that produced an accurate DTM. Surface temperatures change as a function of many variables such as slope, albedo, thermal inertia, time, season, and atmospheric opacity. We constrain each of these variables to construct a DTM and maps of slope-corrected albedo, slope- and albedo-corrected thermal inertia, and surface temperatures across the scene for any time of day or year and at any atmospheric opacity. DTMs greatly facilitate analyses of the Martian surface, and the MOLA global data set is not finely scaled enough (128 pixels per degree, ???0.5 km per pixel near the equator) to be combined with newer data sets (e.g., High Resolution Imaging Science Experiment, Context Camera, and Compact Reconnaissance Imaging Spectrometer for Mars at ???0.25, ???6, and ???20 m per pixel, respectively), so new techniques to derive high-resolution DTMs are always being explored. This paper discusses our technique of combining a set of THEMIS visible and thermal infrared observations such that albedo and thermal inertia variations within the scene are eliminated and only topographic variations remain. This enables us to produce a high-resolution DTM via photoclinometry techniques that are largely free of albedo-induced errors. With this DTM, THEMIS observations, and a subsurface thermal diffusion model, we generate slope-corrected maps of albedo, thermal inertia, and surface temperatures. In addition to greater accuracy, these products allow thermophysical properties to be directly compared with topography.

Space Shuttle orbit determination using empirical force modeling of attitude maneuvers for the German MOMS-02/D2 mission

NASA Technical Reports Server (NTRS)

Vonbraun, C.; Reigber, Christoph

1994-01-01

In the spring of 1993, the MOMS-02 (modular Optoelectronic Multispectral Scanner) camera, as part of the second German Spacelab mission aboard STS-55, successfully took digital threefold stereo images of the surface of the Earth. While the mission is experimental in nature, its primary goals are to produce high quality maps and three-dimensional digital terrain models of the Earth's surface. Considerable improvement in the quality of the terrain model can be attained if information about the position and attitude of the camera is included during the adjustment of the image data. One of the primary sources of error in the Shuttle's position is due to the significant attitude maneuvers conducted during the course of the mission. Various arcs, using actual Tracking and Data Relay Satellite (TDRSS) Doppler data of STS-55, were processed to determine how effectively empirical force modeling could be used to solve for the radial, transverse, and normal components of the orbit perturbations caused by these routine maneuvers. Results are presented in terms of overlap-orbit differences in the three components. Comparisons of these differences, before and after the maneuvers are estimated, show that the quality of an orbit can be greatly enhanced with this technique, even if several maneuvers are present. Finally, a discussion is made of some of the difficulties encountered with this approach, and some ideas for future studies are presented.

Quantitative analysis of terrain units mapped in the northern quarter of Venus from Venera 15/16 data

NASA Technical Reports Server (NTRS)

Schaber, G. G.

1991-01-01

The contacts between 34 geological/geomorphic terrain units in the northern quarter of Venus mapped from Venera 15/16 data were digitized and converted to a Sinusoidal Equal-Area projection. The result was then registered with a merged Pioneer Venus/Venera 15/16 altimetric database, root mean square (rms) slope values, and radar reflectivity values derived from Pioneer Venus. The resulting information includes comparisons among individual terrain units and terrain groups to which they are assigned in regard to percentage of map area covered, elevation, rms slopes, distribution of suspected craters greater than 10 km in diameter.

Stratigraphy of the Perrine and Nun Sulci quadrangles (Jg-2 and Jg-5), Ganymede

NASA Technical Reports Server (NTRS)

Mcgill, George E.; Squyres, Steven W.

1991-01-01

Dark and light terrain materials in the Perrine and Nun Sulci quadrangles are divided into nine map units, four dark, and five light. These are placed in time-stratigraphic sequence primarily by means of embayment and cross-cutting relationships. Dark terrain is generally more heavily cratered and thus older that light terrain but, at least in these quadrangles, crater densities are not reliable indicators of relative ages among the four dark material units. The four mapped material units within dark terrain are: cratered dark materials (dc), grooved dark materials (dg), transitional dark materials (di), and dark materials, undivided (d). The five mapped units within light terrain are: intermediate light materials (li), grooved light materials (lg), irregularly grooved light materials (lgl), smooth light materials (ls), and light materials, undivided.

Mapping landslide susceptibility using data-driven methods.

PubMed

Zêzere, J L; Pereira, S; Melo, R; Oliveira, S C; Garcia, R A C

2017-07-01

Most epistemic uncertainty within data-driven landslide susceptibility assessment results from errors in landslide inventories, difficulty in identifying and mapping landslide causes and decisions related with the modelling procedure. In this work we evaluate and discuss differences observed on landslide susceptibility maps resulting from: (i) the selection of the statistical method; (ii) the selection of the terrain mapping unit; and (iii) the selection of the feature type to represent landslides in the model (polygon versus point). The work is performed in a single study area (Silveira Basin - 18.2km 2 - Lisbon Region, Portugal) using a unique database of geo-environmental landslide predisposing factors and an inventory of 82 shallow translational slides. The logistic regression, the discriminant analysis and two versions of the information value were used and we conclude that multivariate statistical methods perform better when computed over heterogeneous terrain units and should be selected to assess landslide susceptibility based on slope terrain units, geo-hydrological terrain units or census terrain units. However, evidence was found that the chosen terrain mapping unit can produce greater differences on final susceptibility results than those resulting from the chosen statistical method for modelling. The landslide susceptibility should be assessed over grid cell terrain units whenever the spatial accuracy of landslide inventory is good. In addition, a single point per landslide proved to be efficient to generate accurate landslide susceptibility maps, providing the landslides are of small size, thus minimizing the possible existence of heterogeneities of predisposing factors within the landslide boundary. Although during last years the ROC curves have been preferred to evaluate the susceptibility model's performance, evidence was found that the model with the highest AUC ROC is not necessarily the best landslide susceptibility model, namely when terrain mapping units are heterogeneous in size and reduced in number. Copyright © 2017 Elsevier B.V. All rights reserved.

DEVELOPMENT OF LAND COVER AND TERRAIN DATA BASES FOR THE INNOKO NATIONAL WILDLIFE REFUGE, ALASKA, USING LANDSAT AND DIGITAL TERRAIN DATA.

USGS Publications Warehouse

Markon, Carl J.; Talbot, Stephen

1986-01-01

Landsat-derived land cover maps and associated elevation, slope, and aspect class maps were produced for the Innoko National Wildlife Refuge (3,850,000 acres; 1,555,095 hectares) in northwestern Alaska. These maps and associated digital data products are being used by the U. S. Fish and Wildlife Service for wildlife management, research, and comprehensive conservation planning. Portions of two Landsat Multispectral Scanner (MSS) scenes and digital terrain data were used to produce 1:250,000 scale land cover and terrain maps. Prints of summer and winter Landsat MSS scenes were used to manually interpret broad physiographic strata. These strata were transferred to U. S. Geological Survey 1:250,000-scale topographic maps and digitized. Seven major land cover classes and 23 subclasses were identified. The major land cover classes include: forest, scrub, dwarf scrub and related types, herbaceous, scarcely vegetated areas, water, and shadow.

Land Survey from Unmaned Aerial Veichle

NASA Astrophysics Data System (ADS)

Peterman, V.; Mesarič, M.

2012-07-01

In this paper we present, how we use a quadrocopter unmanned aerial vehicle with a camera attached to it, to do low altitude photogrammetric land survey. We use the quadrocopter to take highly overlapping photos of the area of interest. A "structure from motion" algorithm is implemented to get parameters of camera orientations and to generate a sparse point cloud representation of objects in photos. Than a patch based multi view stereo algorithm is applied to generate a dense point cloud. Ground control points are used to georeference the data. Further processing is applied to generate digital orthophoto maps, digital surface models, digital terrain models and assess volumes of various types of material. Practical examples of land survey from a UAV are presented in the paper. We explain how we used our system to monitor the reconstruction of commercial building, then how our UAV was used to assess the volume of coal supply for Ljubljana heating plant. Further example shows the usefulness of low altitude photogrammetry for documentation of archaeological excavations. In the final example we present how we used our UAV to prepare an underlay map for natural gas pipeline's route planning. In the final analysis we conclude that low altitude photogrammetry can help bridge the gap between laser scanning and classic tachymetric survey, since it offers advantages of both techniques.

Quasi-microscope concept for planetary missions.

PubMed

Huck, F O; Arvidson, R E; Burcher, E E; Giat, O; Wall, S D

1977-09-01

Viking lander cameras have returned stereo and multispectral views of the Martian surface with a resolution that approaches 2 mm/lp in the near field. A two-orders-of-magnitude increase in resolution could be obtained for collected surface samples by augmenting these cameras with auxiliary optics that would neither impose special camera design requirements nor limit the cameras field of view of the terrain. Quasi-microscope images would provide valuable data on the physical and chemical characteristics of planetary regoliths.

Autonomous Exploration for Gathering Increased Science

NASA Technical Reports Server (NTRS)

Bornstein, Benjamin J.; Castano, Rebecca; Estlin, Tara A.; Gaines, Daniel M.; Anderson, Robert C.; Thompson, David R.; DeGranville, Charles K.; Chien, Steve A.; Tang, Benyang; Burl, Michael C.;

Sakhalin Island terrain intelligence

USGS Publications Warehouse

,

1943-01-01

This folio of maps and explanatory tables outlines the principal terrain features of Sakhalin Island. Each map and table is devoted to a specialized set of problems; together they cover the subjects of terrain appreciation, climate, rivers, water supply, construction materials, suitability for roads, suitability for airfields, fuels and other mineral resources, and geology. In most cases, the map of the island is divided into two parts: N. of latitude 50° N., Russian Sakhalin, and south of latitude 50° N., Japanese Sakhalin or Karafuto. These maps and data were compiled by the United States Geological Survey during the period from March to September, 1943.

Camera Image Transformation and Registration for Safe Spacecraft Landing and Hazard Avoidance

NASA Technical Reports Server (NTRS)

Jones, Brandon M.

2005-01-01

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.

Topographical Hill Shading Map Production Based Tianditu (map World)

NASA Astrophysics Data System (ADS)

Wang, C.; Zha, Z.; Tang, D.; Yang, J.

2018-04-01

TIANDITU (Map World) is the public version of National Platform for Common Geospatial Information Service, and the terrain service is an important channel for users on the platform. With the development of TIANDITU, topographical hill shading map production for providing and updating global terrain map on line becomes necessary for the characters of strong intuition, three-dimensional sense and aesthetic effect. As such, the terrain service of TIANDITU focuses on displaying the different scales of topographical data globally. And this paper mainly aims to research the method of topographical hill shading map production globally using DEM (Digital Elevation Model) data between the displaying scales about 1 : 140,000,000 to 1 : 4,000,000, corresponded the display level from 2 to 7 on TIANDITU website.

Planet Four: Terrains - Pointing the Highest Resolution Camera Ever Sent to Mars with the Help of 10,000 Earthlings

NASA Astrophysics Data System (ADS)

Schwamb, Megan Elizabeth; Aye, Klaus-Michael; Portyankina, Ganna; Hansen, Candice; Lintott, Chris; Carstensen, Brian; Duca, Simone; Parrish, Michael; Miller, Grant

2016-10-01

Mars' south pole is sculpted by the never-ending cycle of freezing and thawing of exposed carbon dioxide ice. In the summer, carbon dioxide jets loft dust and dirt through cracks in the thawing carbon dioxide ice sheet to the surface where winds blow the material into the hundreds of thousands of dark fans observed from orbit. Built with the Zooniverse's project builder platform (http://www.zooniverse.org/lab), Planet Four: Terrains (http://terrains.planetfour.org/) is a citizen science project enlisting the general public to review mid-resolution Mars Reconnaissance Orbiter (MRO) Context Camera subimages to identify the channels and pits (dubbed araneiforms) carved during the gas jet formation process, as well as other surface features including craters and carbon dioxide ice pits dubbed 'swiss cheese terrain.'One of the key goals of the project was to identify jet locations on the Martian south pole and create a set of new targets regions for further detailed monitoring over the next southern Spring and Summer with MRO's HiRISE (High Resolution Imaging Experiment) camera. HiRISE has ~20x higher resolution than CTX, while CTX on the other hand covers more area in a single observation. In less than a year, thanks to the effort of over 10,000 volunteers worldwide, Planet Four: Terrains was able to categorize ~20,000 subimages from 90 CTX images, and identify 20+ regions selected for further HiRISE monitoring to explore the on-going seasonal processes.We present an overview of Planet Four: Terrains including the project's goals and public engagement. We will also present a summary of the over 20 target regions selected for HiRISE monitoring.Acknowledgements: This work uses data generated via the Zooniverse.org platform, development of which was supported by a Global Impact Award from Google, and by the Alfred P. Sloan Foundation. We also thank theHiRISE and MRO Teams for their help in scheduling and acquiring ourrequested observations.

Photogrammetric Accuracy and Modeling of Rolling Shutter Cameras

NASA Astrophysics Data System (ADS)

Ye, W.; Qiao, G.; Kong, F.; Guo, S.; Ma, X.; Tong, X.; Li, R.

2016-06-01

Global climate change is one of the major challenges that all nations are commonly facing. Long-term observations of the Antarctic ice sheet have been playing a critical role in quantitatively estimating and predicting effects resulting from the global changes. The film-based ARGON reconnaissance imagery provides a remarkable data source for studying the Antarctic ice-sheet in 1960s, thus greatly extending the time period of Antarctica surface observations. To deal with the low-quality images and the unavailability of camera poses, a systematic photogrammetric approach is proposed to reconstruct the interior and exterior orientation information for further glacial mapping applications, including ice flow velocity mapping and mass balance estimation. Some noteworthy details while performing geometric modelling using the ARGON images were introduced, including methods and results for handling specific effects of film deformation, damaged or missing fiducial marks and calibration report, automatic fiducial mark detection, control point selection through Antarctic shadow and ice surface terrain analysis, and others. Several sites in East Antarctica were tested. As an example, four images in the Byrd glacier region were used to assess the accuracy of the geometric modelling. A digital elevation model (DEM) and an orthophoto map of Byrd glacier were generated. The accuracy of the ground positions estimated by using independent check points is within one nominal pixel of 140 m of ARGON imagery. Furthermore, a number of significant features, such as ice flow velocity and regional change patterns, will be extracted and analysed.

UAV-based NDVI calculation over grassland: An alternative approach

NASA Astrophysics Data System (ADS)

Mejia-Aguilar, Abraham; Tomelleri, Enrico; Asam, Sarah; Zebisch, Marc

2016-04-01

The Normalised Difference Vegetation Index (NDVI) is one of the most widely used indicators for monitoring and assessing vegetation in remote sensing. The index relies on the reflectance difference between the near infrared (NIR) and red light and is thus able to track variations of structural, phenological, and biophysical parameters for seasonal and long-term monitoring. Conventionally, NDVI is inferred from space-borne spectroradiometers, such as MODIS, with moderate resolution up to 250 m ground resolution. In recent years, a new generation of miniaturized radiometers and integrated hyperspectral sensors with high resolution became available. Such small and light instruments are particularly adequate to be mounted on airborne unmanned aerial vehicles (UAV) used for monitoring services reaching ground sampling resolution in the order of centimetres. Nevertheless, such miniaturized radiometers and hyperspectral sensors are still very expensive and require high upfront capital costs. Therefore, we propose an alternative, mainly cheaper method to calculate NDVI using a camera constellation consisting of two conventional consumer-grade cameras: (i) a Ricoh GR modified camera that acquires the NIR spectrum by removing the internal infrared filter. A mounted optical filter additionally obstructs all wavelengths below 700 nm. (ii) A Ricoh GR in RGB configuration using two optical filters for blocking wavelengths below 600 nm as well as NIR and ultraviolet (UV) light. To assess the merit of the proposed method, we carry out two comparisons: First, reflectance maps generated by the consumer-grade camera constellation are compared to reflectance maps produced with a hyperspectral camera (Rikola). All imaging data and reflectance maps are processed using the PIX4D software. In the second test, the NDVI at specific points of interest (POI) generated by the consumer-grade camera constellation is compared to NDVI values obtained by ground spectral measurements using a portable spectroradiometer (Spectravista SVC HR-1024i). All data were collected on a dry alpine mountain grassland site in the Matsch valley, Italy, during the vegetation period of 2015. Data acquisition for the first comparison followed a pre-programmed flight plan in which the hyperspectral and alternative dual-camera constellation were mounted separately on an octocopter-UAV during two consecutive flight campaigns. Ground spectral measurements collection took place on the same site and on the same dates (three in total) of the flight campaigns. The proposed technique achieves promising results and therewith constitutes a cheap and simple way of collecting spatially explicit information on vegetated areas even in challenging terrain.

The Terrain of Margaritifer Chaos

NASA Technical Reports Server (NTRS)

1999-01-01

The jumbled and broken terrain in the picture on the left is known as chaotic terrain. Chaotic terrain was first observed in Mariner 6 and 7 images of Mars more than 30 years ago, and is thought to result from collapse after material--perhaps water or ice--was removed from the subsurface by events such as the formation of giant flood channels. The region shown here is named 'Margaritifer Chaos'. The left picture is a Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) red wide angle camera context frame that covers an area 115 km (71 miles) across. The small white box is centered at 10.3oS, 21.4oW and indicates the location of the high-resolution view on the right. The high resolution view (right) covers a small portion of the Margaritifer Chaos at 1.8 meters (6 feet) per pixel. The area shown is 3 km (1.9 miles) across. Uplands are lumpy with small bright outcrops of bedrock. Lowlands or valleys in the chaotic terrain have floors covered by light-toned windblown d rifts. This image is typical of the very highest-resolution views of the equatorial latitudes of Mars. Both pictures are illuminated from the left/upper left, north is toward the top.

How to characterize terrains on 4 Vesta using Dawn Framing Camera color bands?

NASA Astrophysics Data System (ADS)

Le Corre, Lucille; Reddy, Vishnu; Nathues, Andreas; Cloutis, Edward A.

2011-12-01

We present methods for terrain classification on 4 Vesta using Dawn Framing Camera (FC) color information derived from laboratory spectra of HED meteorites and other Vesta-related assemblages. Color and spectral parameters have been derived using publicly available spectra of these analog materials to identify the best criteria for distinguishing various terrains. We list the relevant parameters for identifying eucrites, diogenites, mesosiderites, pallasites, clinopyroxenes and olivine + orthopyroxene mixtures using Dawn FC color cubes. Pseudo Band I minima derived by fitting a low order polynomial to the color data are found to be useful for extracting the pyroxene chemistry. Our investigation suggests a good correlation (R2 = 0.88) between laboratory measured ferrosilite (Fs) pyroxene chemistry vs. those from pseudo Band I minima using equations from Burbine et al. (Burbine, T.H., Buchanan, P.C., Dolkar, T., Binzel, R.P. [2009]. Planetary Science 44, 1331-1341). The pyroxene chemistry information is a complementary terrain classification capability beside the color ratios. We also investigated the effects of exogenous material (i.e., CM2 carbonaceous chondrites) on the spectra of HEDs using laboratory mixtures of these materials. Our results are the basis for an automated software pipeline that will allow us to classify terrains on 4 Vesta efficiently.

The emplacement of long lava flows in Mare Imbrium, the Moon

NASA Astrophysics Data System (ADS)

Garry, W. B.

2012-12-01

Lava flow margins are scarce on the lunar surface. The best developed lava flows on the Moon occur in Mare Imbrium where flow margins are traceable nearly their entire flow length. The flow field originates in the southwest part of the basin from a fissure or series of fissures and cones located in the vicinity of Euler crater and erupted in three phases (Phases I, II, III) over a period of 0.5 Billion years (3.0 - 2.5 Ga). The flow field was originally mapped with Apollo and Lunar Orbiter data by Schaber (1973) and shows the flow field extends 200 to 1200 km from the presumed source area and covers an area of 2.0 x 10^5 km^2 with an estimated eruptive volume of 4 x 10^4 km^3. Phase I flows extend 1200 km and have the largest flow volume, but interestingly do not exhibit visible topography and are instead defined by difference in color from the surrounding mare flows. Phases II and III flows have well-defined flow margins (10 - 65 m thick) and channels (0.4 - 2.0 km wide, 40 - 70 m deep), but shorter flow lengths, 600 km and 400 km respectively. Recent missions, including Lunar Reconnaissance Orbiter (LRO), Kaguya (Selene), and Clementine, provide high resolution data sets of these lava flows. Using a combination of data sets including images from LRO Wide-Angle-Camera (WAC)(50-100 m/pixel) and Narrow-Angle-Camera (NAC) (up to 0.5m/pixel), Kaguya Terrain Camera (TC) (10 m/pixel), and topography from LRO Lunar Orbiter Laser Altimeter (LOLA), the morphology has been remapped and topographic measurements of the flow features have been made in an effort to reevaluate the emplacement of the flow field. Morphologic mapping reveals a different flow path for Phase I compared to the original mapping completed by Schaber (1973). The boundaries of the Phase I flow field have been revised based on Moon Mineralogy Mapper color ratio images (Staid et al., 2011). This has implications for the area covered and volume erupted during this stage, as well as, the age of Phase I. Flow features and margins have been identified in the Phase I flow within the LROC WAC mosaic and in Narrow Angle Camera (NAC) images. These areas have a mottled appearance. LOLA profiles over the more prominent flow lobes in Phase I reveal these margins are less 10 m thick. Phase II and III morphology maps are similar to previous flow maps. Phase III lobes near Euler are 10-12 km wide and 20-30 m thick based on measurements of the LOLA 1024ppd Elevation Digital Terrain Model (DTM) in JMoon. One of the longer Phase III lobes varies between 15 to 50 km wide and 25 to 60 m thick, with the thickest section at the distal end of the lobe. The Phase II lobe is 15 to 25 m thick and up to 35 km wide. The eruptive volume of the Mare Imbrium lava flows has been compared to terrestrial flood basalts. The morphology of the lobes in Phase II and III, which includes levees, thick flow fronts, and lobate margins suggests these could be similar to terrestrial aa-style flows. The Phase I flows might be more representative of sheet flows, pahoehoe-style flows, or inflated flows. Morphologic comparisons will be made with terrestrial flows at Askja volcano in Iceland, a potential analog to compare different styles of emplacement for the flows in Mare Imbrium.

Planet Four: Terrains - Discovery of araneiforms outside of the South Polar layered deposits

NASA Astrophysics Data System (ADS)

Schwamb, Megan E.; Aye, Klaus-Michael; Portyankina, Ganna; Hansen, Candice J.; Allen, Campbell; Allen, Sarah; Calef, Fred J.; Duca, Simone; McMaster, Adam; Miller, Grant R. M.

2018-07-01

We present the results of a systematic mapping of seasonally sculpted terrains on the South Polar region of Mars with the Planet Four: Terrains (P4T) online citizen science project. P4T enlists members of the general public to visually identify features in the publicly released Mars Reconnaissance Orbiter Context Camera (CTX) images. In particular, P4T volunteers are asked to identify: (1) araneiforms (including features with a central pit and radiating channels known as 'spiders'); (2) erosional depressions, troughs, mesas, ridges, and quasi-circular pits characteristic of the South Polar Residual Cap (SPRC) which we collectively refer to as 'Swiss cheese terrain', and (3) craters. In this work we present the distributions of our high confidence classic spider araneiforms and Swiss cheese terrain identifications in 90 CTX images covering 11% of the South polar regions at latitudes ≤ -75° N. We find no locations within our high confidence spider sample that also have confident Swiss cheese terrain identifications. Previously spiders were reported as being confined to the South Polar Layered Deposits (SPLD). Our work has provided the first identification of spiders at locations outside of the SPLD, confirmed with high resolution HiRISE (High Resolution Imaging Science Experiment) imaging. We find araneiforms on the Amazonian and Hesperian polar units and the Early Noachian highland units, with 75% of the identified araneiform locations in our high confidence sample residing on the SPLD. With our current coverage, we cannot confirm whether these are the only geologic units conducive to araneiform formation on the Martian South Polar region. Our results are consistent with the current CO2 jet formation scenario with the process exploiting weaknesses in the surface below the seasonal CO2 ice sheet to carve araneiform channels into the regolith over many seasons. These new regions serve as additional probes of the conditions required for channel creation in the CO2 jet process.

Evaluation of a Map Interpretation and Terrain Analysis Course for Nap-of-the-Earth Navigation. Research Report 1198.

ERIC Educational Resources Information Center

Holman, Garvin L.

This report documents the training effectiveness of a map interpretation and terrain analysis course (MITAC) developed to enhance the ability of helicopter pilots to navigate accurately during low altitude terrain following flight. A study comparing student aviators taught by the MITAC technique with a control group of students taught by…

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

Nesnas, Issa A.; Pivtoraiko, Mihail N.; Kelly, Alonzo; Fleder, Michael

2012-01-01

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Photometric Characteristics of Lunar Terrains

NASA Astrophysics Data System (ADS)

Sato, Hiroyuki; Hapke, Bruce W.; Denevi, Brett W.; Robinson, Mark

2016-10-01

The photometric properties of the lunar depend on albedo, surface roughness, porosity, and the internal/external structure of particles. Hapke parameter maps derived using a bidirectional reflectance model [Hapke, 2012] from Lunar Reconnaissance Orbiter Camera (LROC) Wide Angle Camera (WAC) images demonstrated the spatial and spectral variation of the photometric properties of the Moon [Sato et al., 2014]. Using the same methodology, here we present the photometric characteristics of typical lunar terrains, which were not systematically analyzed in the previous study.We selected five representative terrain types: mare, highland, swirls, and two Copernican (fresh) crater ejecta (one mare and one highlands example). As for the datasets, we used ~39 months of WAC repeated observations, and for each image pixel, we computed latitude, longitude, incidence, emission, and phase angles using the WAC GLD100 stereo DTM [Scholten et al., 2012]. To obtain similar phase and incidence angle ranges, all sampling sites are near the equator and in the vicinity of Reiner Gamma. Three free Hapke parameters (single scattering albedo: w, HG2 phase function parameter: c, and angular width of SHOE: hs) were then calculated for the seven bands (321-689 nm). The remaining parameters were fixed by simplifying the model [Sato et al., 2014].The highlands, highland ejecta, and swirl (Reiner Gamma) showed clearly higher w than the mare and mare ejecta. The derived c values were lower (less backscattering) for the swirl and higher (more backscattering) for the highlands (and ejecta) relative to the other sites. Forward scattering materials such as unconsolidated transparent crystalline materials might be relatively enriched in the swirl. In the highlands, anorthositic agglutinates with dense internal scattering could be responsible for the strong backscattering. The mare and mare ejecta showed continuously decreasing c from UV to visible wavelengths. This might be caused by the FeO-rich pyroxene and glass in the mare becoming more translucent at longer wavelengths.

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

NASA Technical Reports Server (NTRS)

Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellut, Paolo; Sherwin, Gary

2011-01-01

TIR cameras can be used for day/night Unmanned Ground Vehicle (UGV) autonomous navigation when stealth is required. The quality of uncooled TIR cameras has significantly improved over the last decade, making them a viable option at low speed Limiting factors for stereo ranging with uncooled LWIR cameras are image blur and low texture scenes TIR perception capabilities JPL has explored includes: (1) single and dual band TIR terrain classification (2) obstacle detection (pedestrian, vehicle, tree trunks, ditches, and water) (3) perception thru obscurants

Synthetic Vision for Lunar and Planetary Landing Vehicles

NASA Technical Reports Server (NTRS)

Williams, Steven P.; Arthur, Jarvis (Trey) J., III; Shelton, Kevin J.; Prinzel, Lawrence J., III; Norman, R. Michael

2008-01-01

The Crew Vehicle Interface (CVI) group of the Integrated Intelligent Flight Deck Technologies (IIFDT) has done extensive research in the area of Synthetic Vision (SV), and has shown that SV technology can substantially enhance flight crew situation awareness, reduce pilot workload, promote flight path control precision and improve aviation safety. SV technology is being extended to evaluate its utility for lunar and planetary exploration vehicles. SV may hold significant potential for many lunar and planetary missions since the SV presentation provides a computer-generated view of the terrain and other significant environment characteristics independent of the outside visibility conditions, window locations, or vehicle attributes. SV allows unconstrained control of the computer-generated scene lighting, terrain coloring, and virtual camera angles which may provide invaluable visual cues to pilots/astronauts and in addition, important vehicle state information may be conformally displayed on the view such as forward and down velocities, altitude, and fuel remaining to enhance trajectory control and vehicle system status. This paper discusses preliminary SV concepts for tactical and strategic displays for a lunar landing vehicle. The technical challenges and potential solutions to SV applications for the lunar landing mission are explored, including the requirements for high resolution terrain lunar maps and an accurate position and orientation of the vehicle that is essential in providing lunar Synthetic Vision System (SVS) cockpit displays. The paper also discusses the technical challenge of creating an accurate synthetic terrain portrayal using an ellipsoid lunar digital elevation model which eliminates projection errors and can be efficiently rendered in real-time.

First results in terrain mapping for a roving planetary explorer

NASA Technical Reports Server (NTRS)

Krotkov, E.; Caillas, C.; Hebert, M.; Kweon, I. S.; Kanade, Takeo

1989-01-01

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Refining Landsat classification results using digital terrain data

USGS Publications Warehouse

Miller, Wayne A.; Shasby, Mark

1982-01-01

 Scientists at the U.S. Geological Survey's Earth Resources Observation systems (EROS) Data Center have recently completed two land-cover mapping projects in which digital terrain data were used to refine Landsat classification results. Digital ter rain data were incorporated into the Landsat classification process using two different procedures that required developing decision criteria either subjectively or quantitatively. The subjective procedure was used in a vegetation mapping project in Arizona, and the quantitative procedure was used in a forest-fuels mapping project in Montana. By incorporating digital terrain data into the Landsat classification process, more spatially accurate landcover maps were produced for both projects.

Preliminary Geological Map of the Ac-H-7 Kerwan Quadrangle of Ceres: An Integrated Mapping Study Using Dawn Spacecraft Data

NASA Astrophysics Data System (ADS)

Williams, D. A.; Crown, D. A.; Mest, S. C.; Buczkowski, D.; Schenk, P.; Scully, J. E. C.; Jaumann, R.; Roatsch, T.; Preusker, F.; Platz, T.; Nathues, A.; Hoffmann, M.; Schäfer, M.; Marchi, S.; De Sanctis, M. C.; Russell, C. T.; Raymond, C. A.

2015-12-01

We used geologic mapping applied to Dawn spacecraft data as a tool to understand the geologic history of the Ac-H-7 Kerwan Quadrangle of dwarf planet Ceres. This region, located between 22˚S-22˚N and 72-144˚E, hosts four primary features: 1) the northern part of the 284 km diameter impact basin Kerwan in the center and SE corner of the quadrangle, whose rim is degraded and whose interior has been filled with a 'smooth material' that hosts a significantly lower impact crater density than most of the rest of Ceres' surface; 2) a portion of the 125 km diameter crater Dantu, whose ejecta field covers the NE corner of the quadrangle and where color data show both bright and dark materials, suggesting excavation of terrains of different compositions; 3) an unnamed double crater in the NW corner of the quadrangle surrounded by an ejecta field; and 4) a heavily cratered plains unit in the SW corner of the quadrangle that appears to be part of the dominant unit across Ceres surface. Key goals of the ongoing mapping are to assess the types of processes that might be responsible for resurfacing by the smooth unit, and understanding the nature of the variably-colored Dantu ejecta. The Dantu region is one of two longitudinally distinct regions on Ceres where ESA Hershel space telescope data suggested a release of water vapor (1). At the time of this writing geologic mapping was performed on Framing Camera (FC) mosaics from the Approach (1.3 km/px) and Survey (415 m/px) orbits, including grayscale and color images and digital terrain models derived from stereo images. In Fall 2015 images from the High Altitude Mapping Orbit (140 m/px) will be used to refine the mapping, followed by Low Altitude Mapping Orbit (35 m/px) images in January 2016. Support of the Dawn Instrument, Operations, and Science Teams is acknowledged. This work is supported by grants from NASA, and from the German and Italian Space Agencies. Reference: (1) Küppers, M., et al. (2014). Nature, v. 505, 525-527.

The Effects of Terrain Properties on Determining Crater Model Ages of Lunar Surfaces

NASA Astrophysics Data System (ADS)

Kirchoff, M. R.; Marchi, S.

2017-12-01

Analyzing crater size-frequency distributions (SFDs) and using them to determine model ages of surfaces is an important technique for understanding the Moon's geologic history and evolution. Small craters with diameters (D) < 1 km are frequently used, especially given the very high resolution imaging now available from Lunar Reconnaissance Orbiter Narrow and Wide Angle Cameras (LROC-NAC/WAC) and the Selene Terrain Camera. However, for these diameters, final crater sizes and shapes are affected by the properties of the terrains on which they are formed [1], which alters crater SFD shapes [2]. We use the Model Production Function (MPF; [2]), which includes terrain properties in computing crater production functions, to explore how incorporating terrain properties affects the estimation of crater model ages. First, crater SFDs are compiled utilizing LROC-WAC/NAC images to measure craters with diameters from 10 m up to 20 km (size of largest crater measured depends on the terrain). A nested technique is used to obtain this wide diameter range: D ≥ 0.5 km craters are measured in the largest area, D = 0.09-0.5 km craters are measured in a smaller area within the largest area, and D = 0.01-0.1 km craters are measured in the smallest area located in both of the larger areas. Then, we quantitatively fit the crater SFD with distinct MPFs that use broadly different terrain properties. Terrain properties are varied through coarsely altering the parameters in the crater scaling law [1] that represent material type (consolidated, unconsolidated, porous), material tensile strength, and material density (for further details see [2]). We also discuss the effect of changing terrain properties with depth (i.e., layering). Finally, fits are used to compute the D = 1 km crater model ages for the terrains. We discuss the new constraints on how terrain properties affect crater model ages from our analyses of a variety of lunar terrains from highlands to mare and impact melt to continuous ejecta deposits. References: [1] Holsapple, K. A & Housen, K. R., Icarus 187, 345-356, 2007. [2] Marchi, S., et al., AJ 137, 4936-4948, 2009.

Dense image matching of terrestrial imagery for deriving high-resolution topographic properties of vegetation locations in alpine terrain

NASA Astrophysics Data System (ADS)

Niederheiser, R.; Rutzinger, M.; Bremer, M.; Wichmann, V.

2018-04-01

The investigation of changes in spatial patterns of vegetation and identification of potential micro-refugia requires detailed topographic and terrain information. However, mapping alpine topography at very detailed scales is challenging due to limited accessibility of sites. Close-range sensing by photogrammetric dense matching approaches based on terrestrial images captured with hand-held cameras offers a light-weight and low-cost solution to retrieve high-resolution measurements even in steep terrain and at locations, which are difficult to access. We propose a novel approach for rapid capturing of terrestrial images and a highly automated processing chain for retrieving detailed dense point clouds for topographic modelling. For this study, we modelled 249 plot locations. For the analysis of vegetation distribution and location properties, topographic parameters, such as slope, aspect, and potential solar irradiation were derived by applying a multi-scale approach utilizing voxel grids and spherical neighbourhoods. The result is a micro-topography archive of 249 alpine locations that includes topographic parameters at multiple scales ready for biogeomorphological analysis. Compared with regional elevation models at larger scales and traditional 2D gridding approaches to create elevation models, we employ analyses in a fully 3D environment that yield much more detailed insights into interrelations between topographic parameters, such as potential solar irradiation, surface area, aspect and roughness.

Assessing land leveling needs and performance with unmanned aerial system

NASA Astrophysics Data System (ADS)

Enciso, Juan; Jung, Jinha; Chang, Anjin; Chavez, Jose Carlos; Yeom, Junho; Landivar, Juan; Cavazos, Gabriel

2018-01-01

Land leveling is the initial step for increasing irrigation efficiencies in surface irrigation systems. The objective of this paper was to evaluate potential utilization of an unmanned aerial system (UAS) equipped with a digital camera to map ground elevations of a grower's field and compare them with field measurements. A secondary objective was to use UAS data to obtain a digital terrain model before and after land leveling. UAS data were used to generate orthomosaic images and three-dimensional (3-D) point cloud data by applying the structure for motion algorithm to the images. Ground control points (GCPs) were established around the study area, and they were surveyed using a survey grade dual-frequency GPS unit for accurate georeferencing of the geospatial data products. A digital surface model (DSM) was then generated from the 3-D point cloud data before and after laser leveling to determine the topography before and after the leveling. The UAS-derived DSM was compared with terrain elevation measurements acquired from land surveying equipment for validation. Although 0.3% error or root mean square error of 0.11 m was observed between UAS derived and ground measured ground elevation data, the results indicated that UAS could be an efficient method for determining terrain elevation with an acceptable accuracy when there are no plants on the ground, and it can be used to assess the performance of a land leveling project.

Volunteers Help Decide Where to Point Mars Camera

NASA Image and Video Library

2015-07-22

This series of images from NASA's Mars Reconnaissance Orbiter successively zooms into "spider" features -- or channels carved in the surface in radial patterns -- in the south polar region of Mars. In a new citizen-science project, volunteers will identify features like these using wide-scale images from the orbiter. Their input will then help mission planners decide where to point the orbiter's high-resolution camera for more detailed views of interesting terrain. Volunteers will start with images from the orbiter's Context Camera (CTX), which provides wide views of the Red Planet. The first two images in this series are from CTX; the top right image zooms into a portion of the image at left. The top right image highlights the geological spider features, which are carved into the terrain in the Martian spring when dry ice turns to gas. By identifying unusual features like these, volunteers will help the mission team choose targets for the orbiter's High Resolution Imaging Science Experiment (HiRISE) camera, which can reveal more detail than any other camera ever put into orbit around Mars. The final image is this series (bottom right) shows a HiRISE close-up of one of the spider features. http://photojournal.jpl.nasa.gov/catalog/PIA19823

Gemini IV Mission Image - Baja California, Colorado river and Sonora Desert

NASA Image and Video Library

1965-06-05

S65-34673 (3-7 June 1965) --- This photograph shows the north end of the Gulf of California at the mouth of the Colorado River as it was seen from the Gemini-4 spacecraft during orbital flight June 3-7, 1965. This picture was part of the Synoptic Terrain Photography experiments conducted during the flight to obtain high quality photographs of large land areas already mapped by aerial photography. In charge of these experiments was Dr. Paul D. Lowman Jr., NASA geologist from Goddard Space Flight Center, Greenbelt, Md. This picture was taken with a modified 70mm Hasselblad camera using Eastman color film, ASA 64 at a lens setting of 250th of a second at f/11.

Commercial vs professional UAVs for mapping

NASA Astrophysics Data System (ADS)

Nikolakopoulos, Konstantinos G.; Koukouvelas, Ioannis

2017-09-01

The continuous advancements in the technology behind Unmanned Aerial Vehicles (UAVs), in accordance with the consecutive decrease to their cost and the availability of photogrammetric software, make the use of UAVs an excellent tool for large scale mapping. In addition with the use of UAVs, the problems of increased costs, time consumption and the possible terrain accessibility problems, are significantly reduced. However, despite the growing number of UAV applications there has been a little quantitative assessment of UAV performance and of the quality of the derived products (orthophotos and Digital Surface Models). Here, we present results from field experiments designed to evaluate the accuracy of photogrammetrically-derived digital surface models (DSM) developed from imagery acquired with onboard digital cameras. We also show the comparison of the high resolution vs moderate resolution imagery for largescale geomorphic mapping. The acquired data analyzed in this study comes from a small commercial and a professional UAV. The test area was mapped using the same photogrammetric grid by the two UAVs. 3D models, DSMs and orthophotos were created using special software. Those products were compared to in situ survey measurements and the results are presented in this paper.

3D terrain reconstruction using Chang’E-3 PCAM images

NASA Astrophysics Data System (ADS)

Chen, Wangli; Zeng, Xingguo; Zhang, Hongbo

2017-10-01

In order to improve understanding of the topography of Chang’E-3 landing site, 3D terrain models are reconstructed using PCMA images. PCAM (panoramic cameras) is a stereo camera system with a 27cm baseline on-board Yutu rover. It obtained panoramic images at four detection sites, and can achieve a resolution of 1.48mm/pixel at 10m. So the PCAM images reveal fine details of the detection region. In the method, SIFT is employed for feature description and feature matching. In addition to collinearity equations, the measure of baseline of the stereo system is also used in bundle adjustment to solve orientation parameters of all images. And then, pair-wise depth map computation is applied for dense surface reconstruction. Finally, DTM of the detection region is generated. The DTM covers an area with radius of about 20m, and centering at the location of the camera. In consequence of the design, each individual wheel of Yutu rover can leave three tracks on the surface of moon, and the width between the first and third track is 15cm, and these tracks are clear and distinguishable in images. So we chose the second detection site which is of the best ability of recognition of wheel tracks to evaluate the accuracy of the DTM. We measured the width of wheel tracks every 1.5m from the center of the detection region, and obtained 13 measures. It is noticed that the area where wheel tracks are ambiguous is avoided. Result shows that the mean value of wheel track width is 0.155m with a standard deviation of 0.007m. Generally, the closer to the center the more accurate the measure of wheel width is. This is due to the fact that the deformation of images aggravates with increase distance from the location of the camera, and this induces the decline of DTM quality in far areas. In our work, images of the four detection sites are adjusted independently, and this means that there is no tie point between different sites. So deviations between the locations of the same object measured from DTMs of adjacent detection sites may exist.

Resolved spectrophotometric properties of the Ceres surface from Dawn Framing Camera images

NASA Astrophysics Data System (ADS)

Schröder, S. E.; Mottola, S.; Carsenty, U.; Ciarniello, M.; Jaumann, R.; Li, J.-Y.; Longobardo, A.; Palmer, E.; Pieters, C.; Preusker, F.; Raymond, C. A.; Russell, C. T.

2017-05-01

We present a global spectrophotometric characterization of the Ceres surface using Dawn Framing Camera (FC) images. We identify the photometric model that yields the best results for photometrically correcting images. Corrected FC images acquired on approach to Ceres were assembled into global maps of albedo and color. Generally, albedo and color variations on Ceres are muted. The albedo map is dominated by a large, circular feature in Vendimia Planitia, known from HST images (Li et al., 2006), and dotted by smaller bright features mostly associated with fresh-looking craters. The dominant color variation over the surface is represented by the presence of "blue" material in and around such craters, which has a negative spectral slope over the visible wavelength range when compared to average terrain. We also mapped variations of the phase curve by employing an exponential photometric model, a technique previously applied to asteroid Vesta (Schröder et al., 2013b). The surface of Ceres scatters light differently from Vesta in the sense that the ejecta of several fresh-looking craters may be physically smooth rather than rough. High albedo, blue color, and physical smoothness all appear to be indicators of youth. The blue color may result from the desiccation of ejected material that is similar to the phyllosilicates/water ice mixtures in the experiments of Poch et al. (2016). The physical smoothness of some blue terrains would be consistent with an initially liquid condition, perhaps as a consequence of impact melting of subsurface water ice. We find red terrain (positive spectral slope) near Ernutet crater, where De Sanctis et al. (2017) detected organic material. The spectrophotometric properties of the large Vendimia Planitia feature suggest it is a palimpsest, consistent with the Marchi et al. (2016) impact basin hypothesis. The central bright area in Occator crater, Cerealia Facula, is the brightest on Ceres with an average visual normal albedo of about 0.6 at a resolution of 1.3 km per pixel (six times Ceres average). The albedo of fresh, bright material seen inside this area in the highest resolution images (35 m per pixel) is probably around unity. Cerealia Facula has an unusually steep phase function, which may be due to unresolved topography, high surface roughness, or large average particle size. It has a strongly red spectrum whereas the neighboring, less-bright, Vinalia Faculae are neutral in color. We find no evidence for a diurnal ground fog-type haze in Occator as described by Nathues et al. (2015). We can neither reproduce their findings using the same images, nor confirm them using higher resolution images. FC images have not yet offered direct evidence for present sublimation in Occator.

Accuracy, resolution, and cost comparisons between small format and mapping cameras for environmental mapping

NASA Technical Reports Server (NTRS)

Clegg, R. H.; Scherz, J. P.

1975-01-01

Successful aerial photography depends on aerial cameras providing acceptable photographs within cost restrictions of the job. For topographic mapping where ultimate accuracy is required only large format mapping cameras will suffice. For mapping environmental patterns of vegetation, soils, or water pollution, 9-inch cameras often exceed accuracy and cost requirements, and small formats may be better. In choosing the best camera for environmental mapping, relative capabilities and costs must be understood. This study compares resolution, photo interpretation potential, metric accuracy, and cost of 9-inch, 70mm, and 35mm cameras for obtaining simultaneous color and color infrared photography for environmental mapping purposes.

The First Six Months of Iapetus Observations by the Cassini ISS Camera

NASA Technical Reports Server (NTRS)

Denk, T.; Neukum, G.; Helfenstein, P.; Thomas, P. C.; Turtle, E. P.; McEwen, A. S.; Roatsch, T.; Veverka, J.

2005-01-01

Since Saturn arrival in June 2004, Iapetus has been studied intensively by the Cassini ISS camera [1] at various ranges. The first of two relatively close flybys in the primary mission occurred on Dec 31, 2004 at an altitude of approx.123,400 km over the northern leading hemisphere, resulting in images with a minimum pixel scale of 740 m. Detailed results of this flyby are given in [2], while this abstract covers the observations obtained earlier. Among the most important discoveries are: (a) Four giant impact basins with diameters between 390 and 550 km were detected, three of them are located in the dark terrain [3]. (b) Data revealed a >1300 km long ridge that marks exactly Iapetus' equator within the dark terrain. Individual mountains within the western part of the ridge reach heights of approx.20 km over surrounding terrain [3]. (c) Impact craters were confirmed to be the main geological feature within the dark terrain and at high southern latitudes. (d) There are numerous craters with dark walls roughly facing towards the central parts of the dark hemisphere [3]. (e) Almost all parts of Iapetus have been imaged at least at low resolution (< 60 km/pxl).

Topographic Map of Pathfinder Landing Site

NASA Technical Reports Server (NTRS)

1997-01-01

Topographic map of the landing site, to a distance of 60 meters from the lander in the LSC coordinate system. The lander is shown schematically in the center; 2.5 meter radius circle (black) centered on the camera was not mapped. Gentle relief [root mean square (rms) elevation variation 0.5 m; rms a directional slope 4O] and organization of topography into northwest and northeast-trending ridges about 20 meters apart are apparent. Roughly 30% of the illustrated area is hidden from the camera behind these ridges. Contours (0.2 m interval) and color coding of elevations were generated from a digital terrain model, which was interpolated by kriging from approximately 700 measured points. Angular and parallax point coordinates were measured manually on a large (5 m length) anaglyphic uncontrolled mosaic and used to calculate Cartesian (LSC) coordinates. Errors in azimuth on the order of 10 are therefore likely; elevation errors were minimized by referencing elevations to the local horizon. The uncertainty in range measurements increases quadratically with range. Given a measurement error of 1/2 pixel, the expected precision in range is 0.3 meter at 10 meter range, and 10 meters at 60 meter range. Repeated measurements were made, compared, and edited for consistency to improve the range precision. Systematic errors undoubtedly remain and will be corrected in future maps compiled digitally from geometrically controlled images. Cartographic processing by U.S. Geological Survey.

NOTE: original caption as published in Science Magazine

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech).

Photogrammetric Processing of Planetary Linear Pushbroom Images Based on Approximate Orthophotos

NASA Astrophysics Data System (ADS)

Geng, X.; Xu, Q.; Xing, S.; Hou, Y. F.; Lan, C. Z.; Zhang, J. J.

2018-04-01

It is still a great challenging task to efficiently produce planetary mapping products from orbital remote sensing images. There are many disadvantages in photogrammetric processing of planetary stereo images, such as lacking ground control information and informative features. Among which, image matching is the most difficult job in planetary photogrammetry. This paper designs a photogrammetric processing framework for planetary remote sensing images based on approximate orthophotos. Both tie points extraction for bundle adjustment and dense image matching for generating digital terrain model (DTM) are performed on approximate orthophotos. Since most of planetary remote sensing images are acquired by linear scanner cameras, we mainly deal with linear pushbroom images. In order to improve the computational efficiency of orthophotos generation and coordinates transformation, a fast back-projection algorithm of linear pushbroom images is introduced. Moreover, an iteratively refined DTM and orthophotos scheme was adopted in the DTM generation process, which is helpful to reduce search space of image matching and improve matching accuracy of conjugate points. With the advantages of approximate orthophotos, the matching results of planetary remote sensing images can be greatly improved. We tested the proposed approach with Mars Express (MEX) High Resolution Stereo Camera (HRSC) and Lunar Reconnaissance Orbiter (LRO) Narrow Angle Camera (NAC) images. The preliminary experimental results demonstrate the feasibility of the proposed approach.

Preliminary Geological Map of the Ac-H-14 Yalode Quadrangle of Ceres: An Integrated Mapping Study Using Dawn Spacecraft Data

NASA Astrophysics Data System (ADS)

Crown, D. A.; Yingst, R. A.; Mest, S. C.; Platz, T.; Williams, D. A.; Buczkowski, D.; Schenk, P.; Scully, J. E. C.; Jaumann, R.; Roatsch, T.; Preusker, F.; Nathues, A.; Hoffmann, M.; Schäfer, M.; Marchi, S.; De Sanctis, M. C.; Russell, C.; Raymond, C. A.

2015-12-01

We are conducting a geologic mapping investigation of the Ac-H-14 Yalode Quadrangle (21-66°S, 270-360°E) of Ceres to examine its surface geology and geologic history. At the time of this writing, geologic mapping has been performed on Dawn Framing Camera (FC) mosaics from the late Approach phase (up to 1.3 km/px) and Survey orbit (415 m/px), including clear filter and color images and digital terrain models derived from stereo images. In Fall 2015 images from the High Altitude Mapping Orbit (140 m/px) will be used to refine the mapping, followed by the Low Altitude Mapping Orbit (35 m/px) starting in December 2015. The Yalode Quadrangle is dominated by the ~300-km diameter impact basin Yalode and includes rugged and smooth terrains to the east. Yalode basin has a variably preserved rim, which is continuous and sharply defined to the north/northwest and is irregular or degraded elsewhere, and may have an interior ring structure. The basin floor includes hummocky and smooth areas (some bounded by scarps), crater chains, and a lineated zone. High-resolution images will be used to search for volcanic features on the basin floor and in association with basin structures. Yalode basin and its floor deposits appear to have been strongly affected by the Urvara impact to the west. Impact craters in Yalode Quadrangle display a range of preservation states. Degraded features, including Yalode basin and numerous smaller craters, exhibit subdued rims, lack discrete ejecta deposits, and have infilled interiors. More pristine features (including the large unnamed basin in the SE corner of the quadrangle and craters on Yalode basin floor) have well-defined, quasi-circular forms with prominent rims and in some cases discernible ejecta. Some of these craters have bowl-shaped interiors and others contain hills or mounds on their floors. Support of the Dawn Instrument, Operations, and Science Teams is acknowledged. This work is supported by grants from NASA, MPG, and DLR.

Topography changes monitoring of small islands using camera drone

NASA Astrophysics Data System (ADS)

Bang, E.

2017-12-01

Drone aerial photogrammetry was conducted for monitoring topography changes of small islands in the east sea of Korea. Severe weather and sea wave is eroding the islands and sometimes cause landslide and falling rock. Due to rugged cliffs in all direction and bad accessibility, ground based survey methods are less efficient in monitoring topography changes of the whole area. Camera drones can provide digital images and movie in every corner of the islands, and drone aerial photogrammetry is powerful to get precise digital surface model (DSM) for a limited area. We have got a set of digital images to construct a textured 3D model of the project area every year since 2014. Flight height is in less than 100m from the top of those islands to get enough ground sampling distance (GSD). Most images were vertically captured with automatic flights, but we also flied drones around the islands with about 30°-45° camera angle for constructing 3D model better. Every digital image has geo-reference, but we set several ground control points (GCPs) on the islands and their coordinates were measured with RTK surveying methods to increase the absolute accuracy of the project. We constructed 3D textured model using photogrammetry tool, which generates 3D spatial information from digital images. From the polygonal model, we could get DSM with contour lines. Thematic maps such as hill shade relief map, aspect map and slope map were also processed. Those maps make us understand topography condition of the project area better. The purpose of this project is monitoring topography change of these small islands. Elevation difference map between DSMs of each year is constructed. There are two regions showing big negative difference value. By comparing constructed textured models and captured digital images around these regions, it is checked that a region have experienced real topography change. It is due to huge rock fall near the center of the east island. The size of fallen rock can be measured on the digital model exactly, which is about 13m*6m*2m (height*width*thickness). We believe that drone aerial photogrammetry can be an efficient topography changes detection method for a complicated terrain area.

Influence of Fault-Controlled Topography on Fluvio-Deltaic Sedimentary Systems in Eberswalde Crater, Mars

NASA Technical Reports Server (NTRS)

Rice, Melissa S.; Gupta, Sanjeev; Bell, James F., III; Warner, Nicholas H.

2011-01-01

Eberswalde crater was selected as a candidate landing site for the Mars Science Laboratory (MSL) mission based on the presence of a fan-shaped sedimentary deposit interpreted as a delta. We have identified and mapped five other candidate fluvio -deltaic systems in the crater, using images and digital terrain models (DTMs) derived from the Mars Reconnaissance Orbiter (MRO) High Resolution Imaging Science Experiment (HiRISE) and Context Camera (CTX). All of these systems consist of the same three stratigraphic units: (1) an upper layered unit, conformable with (2) a subpolygonally fractured unit, unconformably overlying (3) a pitted unit. We have also mapped a system of NNE-trending scarps interpreted as dip-slip faults that pre-date the fluvial -lacustrine deposits. The post-impact regional faulting may have generated the large-scale topography within the crater, which consists of a Western Basin, an Eastern Basin, and a central high. This topography subsequently provided depositional sinks for sediment entering the crater and controlled the geomorphic pattern of delta development.

Detail on Dione False color

NASA Image and Video Library

2006-01-27

The leading hemisphere of Dione displays subtle variations in color across its surface in this false color view. To create this view, ultraviolet, green and infrared images were combined into a single black and white picture that isolates and maps regional color differences. This "color map" was then superposed over a clear-filter image. The origin of the color differences is not yet understood, but may be caused by subtle differences in the surface composition or the sizes of grains making up the icy soil. Terrain visible here is on the moon's leading hemisphere. North on Dione (1,126 kilometers, or 700 miles across) is up and rotated 17 degrees to the right. All images were acquired with the Cassini spacecraft narrow-angle camera on Dec. 24, 2005 at a distance of approximately 597,000 kilometers (371,000 miles) from Dione and at a Sun-Dione-spacecraft, or phase, angle of 21 degrees. Image scale is 4 kilometers (2 miles) per pixel. http://photojournal.jpl.nasa.gov/catalog/PIA07688

Precision Landing and Hazard Avoidance Doman

NASA Technical Reports Server (NTRS)

Robertson, Edward A.; Carson, John M., III

2016-01-01

The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking. Autonomous PL&HA builds upon the core GN&C capabilities developed to enable soft, controlled landings on the Moon, Mars, and other solar system bodies. Through the addition of a Terrain Relative Navigation (TRN) function, precision landing within tens of meters of a map-based target is possible. The addition of a 3-D terrain mapping lidar sensor improves the probability of a safe landing via autonomous, real-time Hazard Detection and Avoidance (HDA). PL&HA significantly improves the probability of mission success and enhances access to sites of scientific interest located in challenging terrain. PL&HA can also utilize external navigation aids, such as navigation satellites and surface beacons. Advanced Lidar Sensors High precision ranging, velocimetry, and 3-D terrain mapping Terrain Relative Navigation (TRN) TRN compares onboard reconnaissance data with real-time terrain imaging data to update the S/C position estimate Hazard Detection and Avoidance (HDA) Generates a high-resolution, 3-D terrain map in real-time during the approach trajectory to identify safe landing targets Inertial Navigation During Terminal Descent High precision surface relative sensors enable accurate inertial navigation during terminal descent and a tightly controlled touchdown within meters of the selected safe landing target.

The MVACS Surface Stereo Imager on Mars Polar Lander

NASA Astrophysics Data System (ADS)

Smith, P. H.; Reynolds, R.; Weinberg, J.; Friedman, T.; Lemmon, M. T.; Tanner, R.; Reid, R. J.; Marcialis, R. L.; Bos, B. J.; Oquest, C.; Keller, H. U.; Markiewicz, W. J.; Kramm, R.; Gliem, F.; Rueffer, P.

2001-08-01

The Surface Stereo Imager (SSI), a stereoscopic, multispectral camera on the Mars Polar Lander, is described in terms of its capabilities for studying the Martian polar environment. The camera's two eyes, separated by 15.0 cm, provide the camera with range-finding ability. Each eye illuminates half of a single CCD detector with a field of view of 13.8° high by 14.3° wide and has 12 selectable filters between 440 and 1000 nm. The f18 optics have a large depth of field, and no focusing mechanism is required; a mechanical shutter is avoided by using the frame transfer capability of the 528 × 512 CCD. The resolving power of the camera, 0.975 mrad/pixel, is the same as the Imager for Mars Pathfinder camera, of which it is nearly an exact copy. Specially designed targets are positioned on the Lander; they provide information on the magnetic properties of wind-blown dust, and radiometric standards for calibration. Several experiments beyond the requisite color panorama are described in detail: contour mapping of the local terrain, multispectral imaging of interesting features (possibly with ice or frost in shaded spots) to study local mineralogy, and atmospheric imaging to constrain the properties of the haze and clouds. Eight low-transmission filters are included for imaging the Sun directly at multiple wavelengths to give SSI the ability to measure dust opacity and potentially the water vapor content. This paper is intended to document the functionality and calibration of the SSI as flown on the failed lander.

JMISR INteractive eXplorer

NASA Technical Reports Server (NTRS)

Nelson, David L.; Diner, David J.; Thompson, Charles K.; Hall, Jeffrey R.; Rheingans, Brian E.; Garay, Michael J.; Mazzoni, Dominic

2010-01-01

MISR (Multi-angle Imaging SpectroRadiometer) INteractive eXplorer (MINX) is an interactive visualization program that allows a user to digitize smoke, dust, or volcanic plumes in MISR multiangle images, and automatically retrieve height and wind profiles associated with those plumes. This innovation can perform 9-camera animations of MISR level-1 radiance images to study the 3D relationships of clouds and plumes. MINX also enables archiving MISR aerosol properties and Moderate Resolution Imaging Spectroradiometer (MODIS) fire radiative power along with the heights and winds. It can correct geometric misregistration between cameras by correlating off-nadir camera scenes with corresponding nadir scenes and then warping the images to minimize the misregistration offsets. Plots of BRF (bidirectional reflectance factor) vs. camera angle for points clicked in an image can be displayed. Users get rapid access to map views of MISR path and orbit locations and overflight dates, and past or future orbits can be identified that pass over a specified location at a specified time. Single-camera, level-1 radiance data at 1,100- or 275- meter resolution can be quickly displayed in color using a browse option. This software determines the heights and motion vectors of features above the terrain with greater precision and coverage than previous methods, based on an algorithm that takes wind direction into consideration. Human interpreters can precisely identify plumes and their extent, and wind direction. Overposting of MODIS thermal anomaly data aids in the identification of smoke plumes. The software has been used to preserve graphical and textural versions of the digitized data in a Web-based database.

DTM Generation with Uav Based Photogrammetric Point Cloud

NASA Astrophysics Data System (ADS)

Polat, N.; Uysal, M.

2017-11-01

Nowadays Unmanned Aerial Vehicles (UAVs) are widely used in many applications for different purposes. Their benefits however are not entirely detected due to the integration capabilities of other equipment such as; digital camera, GPS, or laser scanner. The main scope of this paper is evaluating performance of cameras integrated UAV for geomatic applications by the way of Digital Terrain Model (DTM) generation in a small area. In this purpose, 7 ground control points are surveyed with RTK and 420 photographs are captured. Over 30 million georeferenced points were used in DTM generation process. Accuracy of the DTM was evaluated with 5 check points. The root mean square error is calculated as 17.1 cm for an altitude of 100 m. Besides, a LiDAR derived DTM is used as reference in order to calculate correlation. The UAV based DTM has o 94.5 % correlation with reference DTM. Outcomes of the study show that it is possible to use the UAV Photogrammetry data as map producing, surveying, and some other engineering applications with the advantages of low-cost, time conservation, and minimum field work.

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Putting Pluto's Geology on the Map

NASA Image and Video Library

2016-02-11

This geological map covers a portion of Pluto's surface that measures 1,290 miles (2,070 kilometers) from top to bottom, and includes the vast nitrogen-ice plain informally named Sputnik Planum and surrounding terrain. The map is overlain with colors that represent different geological terrains. Each terrain, or unit, is defined by its texture and morphology -- smooth, pitted, craggy, hummocky or ridged, for example. How well a unit can be defined depends on the resolution of the images that cover it. All of the terrain in this map has been imaged at a resolution of approximately 1,050 feet (320 meters) per pixel or better, meaning scientists can map units with relative confidence. The various blue and greenish units that fill the center of the map represent different textures seen across Sputnik Planum, from the cellular terrain in the center and north, to the smooth and pitted plains in the south. The black lines represent the troughs that mark the boundaries of cellular regions in the nitrogen ice. The purple unit represents the chaotic, blocky mountain ranges that line Sputnik's western border, and the pink unit represents the scattered, floating hills at its eastern edge. The possible cryovolcanic feature informally named Wright Mons is mapped in red in the southern corner of the map. The rugged highlands of the informally named Cthulhu Regio is mapped in dark brown along the western edge, and is pockmarked by many large impact craters, mapped in yellow. The base map for this geologic map is a mosaic of 12 images obtained by the Long Range Reconnaissance Imager (LORRI) at a resolution of 1,280 feet (about 390 meters) per pixel. The mosaic was obtained at a range of approximately 48,000 miles (77,300 kilometers) from Pluto, about an hour and 40 minutes before New Horizons' closest approach on July 14, 2015. http://photojournal.jpl.nasa.gov/catalog/PIA20465

Solution of the problem of superposing image and digital map for detection of new objects

NASA Astrophysics Data System (ADS)

Rizaev, I. S.; Miftakhutdinov, D. I.; Takhavova, E. G.

2018-01-01

The problem of superposing the map of the terrain with the image of the terrain is considered. The image of the terrain may be represented in different frequency bands. Further analysis of the results of collation the digital map with the image of the appropriate terrain is described. Also the approach to detection of differences between information represented on the digital map and information of the image of the appropriate area is offered. The algorithm for calculating the values of brightness of the converted image area on the original picture is offered. The calculation is based on using information about the navigation parameters and information according to arranged bench marks. For solving the posed problem the experiments were performed. The results of the experiments are shown in this paper. The presented algorithms are applicable to the ground complex of remote sensing data to assess differences between resulting images and accurate geopositional data. They are also suitable for detecting new objects in the image, based on the analysis of the matching the digital map and the image of corresponding locality.

76 FR 70531 - Tenth Meeting: RTCA Special Committee 217/EUROCAE WG-44: Terrain and Airport Mapping Databases

Federal Register 2010, 2011, 2012, 2013, 2014

2011-11-14

... 217/EUROCAE WG-44: Terrain and Airport Mapping Databases AGENCY: Federal Aviation Administration (FAA... Databases: For the tenth meeting DATES: The meeting will be held December 6-9, 2011, from 9 a.m. to 5 p.m... Mapping Databases. The agenda will include the following: December 6, 2011 Open Plenary Session. Chairman...

Interim Terrain Data (ITD) and Vector Product Interim Terrain Data (VITD) user's guide

DOT National Transportation Integrated Search

1996-09-01

This guide is intended to be a convenient reference for users of these types of terrain analysis data. ITD is a digitized version of the standard 1:50,000-scale tactical terrain analysis data base (TTADB) product produced by the Defense Mapping Agenc...

Terrain classification and land hazard mapping in Kalsi-Chakrata area (Garhwal Himalaya), India

NASA Astrophysics Data System (ADS)

Choubey, Vishnu D.; Litoria, Pradeep K.

Terrain classification and land system mapping of a part of the Garhwal Himalaya (India) have been used to provide a base map for land hazard evaluation, with special reference to landslides and other mass movements. The study was based on MSS images, aerial photographs and 1:50,000 scale maps, followed by detailed field-work. The area is composed of two groups of rocks: well exposed sedimentary Precambrian formations in the Himalayan Main Boundary Thrust Belt and the Tertiary molasse deposits of the Siwaliks. Major tectonic boundaries were taken as the natural boundaries of land systems. A physiographic terrain classification included slope category, forest cover, occurrence of landslides, seismicity and tectonic activity in the area.

A statistical approach for validating eSOTER and digital soil maps in front of traditional soil maps

NASA Astrophysics Data System (ADS)

Bock, Michael; Baritz, Rainer; Köthe, Rüdiger; Melms, Stephan; Günther, Susann

2015-04-01

During the European research project eSOTER, three different Digital Soil Maps (DSM) were developed for the pilot area Chemnitz 1:250,000 (FP7 eSOTER project, grant agreement nr. 211578). The core task of the project was to revise the SOTER method for the interpretation of soil and terrain data. It was one of the working hypothesis that eSOTER does not only provide terrain data with typical soil profiles, but that the new products actually perform like a conceptual soil map. The three eSOTER maps for the pilot area considerably differed in spatial representation and content of soil classes. In this study we compare the three eSOTER maps against existing reconnaissance soil maps keeping in mind that traditional soil maps have many subjective issues and intended bias regarding the overestimation and emphasize of certain features. Hence, a true validation of the proper representation of modeled soil maps is hardly possible; rather a statistical comparison between modeled and empirical approaches is possible. If eSOTER data represent conceptual soil maps, then different eSOTER, DSM and conventional maps from various sources and different regions could be harmonized towards consistent new data sets for large areas including the whole European continent. One of the eSOTER maps has been developed closely to the traditional SOTER method: terrain classification data (derived from SRTM DEM) were combined with lithology data (re-interpreted geological map); the corresponding terrain units were then extended with soil information: a very dense regional soil profile data set was used to define soil mapping units based on a statistical grouping of terrain units. The second map is a pure DSM map using continuous terrain parameters instead of terrain classification; radiospectrometric data were used to supplement parent material information from geology maps. The classification method Random Forest was used. The third approach predicts soil diagnostic properties based on covariates similar to DSM practices; in addition, multi-temporal MODIS data were used; the resulting soil map is the product of these diagnostic layers producing a map of soil reference groups (classified according to WRB). Because the third approach was applied to a larger test area in central Europe, and compared to the first two approaches, has worked with coarser input data, comparability is only partly fulfilled. To evaluate the usability of the three eSOTER maps, and to make a comparison among them, traditional soil maps 1:200,000 and 1:50,000 were used as reference data sets. Three statistical methods were applied: (i) in a moving window the distribution of the soil classes of each DSM product was compared to that of the soil maps by calculating the corrected coefficient of contingency, (ii) the value of predictive power for each of the eSOTER maps was determined, and (iii) the degree of consistency was derived. The latter is based on a weighting of the match of occurring class combinations via expert knowledge and recalculating the proportions of map appearance with these weights. To re-check the validation results a field study by local soil experts was conducted. The results show clearly that the first eSOTER approach based on the terrain classification / reinterpreted parent material information has the greatest similarity with traditional soil maps. The spatial differentiation offered by such an approach is well suitable to serve as a conceptual soil map. Therefore, eSOTER can be a tool for soil mappers to generate conceptual soil maps in a faster and more consistent way. This conclusion is at least valid for overview scales such as 1.250,000.

Sidelooking laser altimeter for a flight simulator

NASA Technical Reports Server (NTRS)

Webster, L. D. (Inventor)

1983-01-01

An improved laser altimeter for a flight simulator which allows measurement of the height of the simulator probe above the terrain directly below the probe tip is described. A laser beam is directed from the probe at an angle theta to the horizontal to produce a beam spot on the terrain. The angle theta that the laser beam makes with the horizontal is varied so as to bring the beam spot into coincidence with a plumb line coaxial with the longitudinal axis of the probe. A television altimeter camera observes the beam spot and has a raster line aligned with the plumb line. Spot detector circuit coupled to the output of the TV camera monitors the position of the beam spot relative to the plumb line.

Spatio-temporal Variability of Albedo and its Impact on Glacier Melt Modelling

NASA Astrophysics Data System (ADS)

Kinnard, C.; Mendoza, C.; Abermann, J.; Petlicki, M.; MacDonell, S.; Urrutia, R.

2017-12-01

Albedo is an important variable for the surface energy balance of glaciers, yet its representation within distributed glacier mass-balance models is often greatly simplified. Here we study the spatio-temporal evolution of albedo on Glacier Universidad, central Chile (34°S, 70°W), using time-lapse terrestrial photography, and investigate its effect on the shortwave radiation balance and modelled melt rates. A 12 megapixel digital single-lens reflex camera was setup overlooking the glacier and programmed to take three daily images of the glacier during a two-year period (2012-2014). One image was chosen for each day with no cloud shading on the glacier. The RAW images were projected onto a 10m resolution digital elevation model (DEM), using the IMGRAFT software (Messerli and Grinsted, 2015). A six-parameter camera model was calibrated using a single image and a set of 17 ground control points (GCPs), yielding a georeferencing accuracy of <1 pixel in image coordinates. The camera rotation was recalibrated for new images based on a set of common tie points over stable terrain, thus accounting for possible camera movement over time. The reflectance values from the projected image were corrected for topographic and atmospheric influences using a parametric solar irradiation model, following a modified algorithm based on Corripio (2004), and then converted to albedo using reference albedo measurements from an on-glacier automatic weather station (AWS). The image-based albedo was found to compare well with independent albedo observations from a second AWS in the glacier accumulation area. Analysis of the albedo maps showed that the albedo is more spatially-variable than the incoming solar radiation, making albedo a more important factor of energy balance spatial variability. The incorporation of albedo maps within an enhanced temperature index melt model revealed that the spatio-temporal variability of albedo is an important factor for the calculation of glacier-wide meltwater fluxes.

Automatic Computer Mapping of Terrain

NASA Technical Reports Server (NTRS)

Smedes, H. W.

1971-01-01

Computer processing of 17 wavelength bands of visible, reflective infrared, and thermal infrared scanner spectrometer data, and of three wavelength bands derived from color aerial film has resulted in successful automatic computer mapping of eight or more terrain classes in a Yellowstone National Park test site. The tests involved: (1) supervised and non-supervised computer programs; (2) special preprocessing of the scanner data to reduce computer processing time and cost, and improve the accuracy; and (3) studies of the effectiveness of the proposed Earth Resources Technology Satellite (ERTS) data channels in the automatic mapping of the same terrain, based on simulations, using the same set of scanner data. The following terrain classes have been mapped with greater than 80 percent accuracy in a 12-square-mile area with 1,800 feet of relief; (1) bedrock exposures, (2) vegetated rock rubble, (3) talus, (4) glacial kame meadow, (5) glacial till meadow, (6) forest, (7) bog, and (8) water. In addition, shadows of clouds and cliffs are depicted, but were greatly reduced by using preprocessing techniques.

The High Resolution Stereo Camera (HRSC): 10 Years of Imaging Mars

NASA Astrophysics Data System (ADS)

Jaumann, R.; Neukum, G.; Tirsch, D.; Hoffmann, H.

2014-04-01

The HRSC Experiment: Imagery is the major source for our current understanding of the geologic evolution of Mars in qualitative and quantitative terms.Imaging is required to enhance our knowledge of Mars with respect to geological processes occurring on local, regional and global scales and is an essential prerequisite for detailed surface exploration. The High Resolution Stereo Camera (HRSC) of ESA's Mars Express Mission (MEx) is designed to simultaneously map the morphology, topography, structure and geologic context of the surface of Mars as well as atmospheric phenomena [1]. The HRSC directly addresses two of the main scientific goals of the Mars Express mission: (1) High-resolution three-dimensional photogeologic surface exploration and (2) the investigation of surface-atmosphere interactions over time; and significantly supports: (3) the study of atmospheric phenomena by multi-angle coverage and limb sounding as well as (4) multispectral mapping by providing high-resolution threedimensional color context information. In addition, the stereoscopic imagery will especially characterize landing sites and their geologic context [1]. The HRSC surface resolution and the digital terrain models bridge the gap in scales between highest ground resolution images (e.g., HiRISE) and global coverage observations (e.g., Viking). This is also the case with respect to DTMs (e.g., MOLA and local high-resolution DTMs). HRSC is also used as cartographic basis to correlate between panchromatic and multispectral stereo data. The unique multi-angle imaging technique of the HRSC supports its stereo capability by providing not only a stereo triplet but also a stereo quintuplet, making the photogrammetric processing very robust [1, 3]. The capabilities for three dimensional orbital reconnaissance of the Martian surface are ideally met by HRSC making this camera unique in the international Mars exploration effort.

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

NASA Technical Reports Server (NTRS)

Maimone, Mark; Johnson, Andrew; Cheng, Yang; Willson, Reg; Matthies, Larry H.

2004-01-01

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

Understanding Pluto's Surface: Correlations between Geology and Composition

NASA Astrophysics Data System (ADS)

Spencer, J. R.; Stern, A.; Weaver, H. A., Jr.; Young, L. A.; Olkin, C.; Ennico Smith, K.; Moore, J. M.; Grundy, W. M.

2015-12-01

New Horizons has revealed that Pluto's surface is composed of a remarkable variety of terrains that differ strikingly in their landforms, color, and near-infrared spectral characteristics. Strong correlations are seen between the morphology revealed by high-resolution imaging from the Long Range Reconnaissance Imager (LORRI), and the surface composition inferred from the spacecraft's color camera and near-infrared spectrometer, which are both included in the Ralph instrument. These correlations provide the potential for a much deeper understanding of the processes that have shaped Pluto's complex surface that was possible for Pluto's sibling Triton, for which Voyager did not provide compositional maps. We will discuss how the full suite of New Horizons remote sensing instruments reveal a surface modified by the interplay of insolation variations, meteorology, and endogenic processes.

Carbon Dioxide Landscape

NASA Technical Reports Server (NTRS)

2004-01-01

7 July 2004 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows a mid-summer view of the south polar residual cap at full MOC resolution, 1.5 m (5 ft) per pixel. During each of the three summers since the start of the MGS mapping mission in March 1999, the scarps that form mesas and pits in the 'Swiss cheese'-like south polar terrain have retreated an average of about 3 meters (1 yard). The material is frozen carbon dioxide; another 3 meters or so of each scarp is expected to be removed during the next summer, in late 2005. This image is located near 86.0oS, 350.8oW, and covers an area about 1.5 km (0.9 mi) wide. Sunlight illuminates the scene from the top/upper left.

Characterization of Terrain in the Mars Surveyor 2001 Landing Site Latitude and Elevation Region Using Mapping Phase Mars Global Surveyor MOC Images

NASA Technical Reports Server (NTRS)

Malin, M. C.; Edgett, K. S.; Parker, T. J.

1999-01-01

One of the original objectives of the Mars Orbiter Camera (MOC), as proposed in 1985, was to acquire observations to be used in assessing future spacecraft landing sites. Images obtained by the Mars Global Surveyor MOC since March 1999 provide the highest resolution views (1.5-4.5 m/pixel) of the planet ever seen. We have been examining these new data to develop a general view of what Mars is like at meter-scale within the latitudes and elevations that are accessible to the Mars Surveyor 2001 lander. Our goal is to provide guidance to the 2001 landing site selection process, rather than to use MOC images to recommend a specific landing site.

Mapping Collective Identity: Territories and Boundaries of Human Terrain

DTIC Science & Technology

2011-06-10

Line MAP-HT Mapping the Human Terrain NDVI Normalized Difference Vegetation Index NGA National Geospatial-Intelligence Agency xi OBIA Object-Based...The Normalized Difference Vegetation Index ( NDVI ) uses the red band to represent the low reflectance from vegetation and the expanded near infrared...spectrum to provide greater delineation of agricultural areas. This layer highlights different fields, crops, and their boundaries. NDVI layers are

Digital terrain tapes: user guide

USGS Publications Warehouse

,

1980-01-01

DMATC's digital terrain tapes are a by-product of the agency's efforts to streamline the production of raised-relief maps. In the early 1960's DMATC developed the Digital Graphics Recorder (DGR) system that introduced new digitizing techniques and processing methods into the field of three-dimensional mapping. The DGR system consisted of an automatic digitizing table and a computer system that recorded a grid of terrain elevations from traces of the contour lines on standard topographic maps. A sequence of computer accuracy checks was performed and then the elevations of grid points not intersected by contour lines were interpolated. The DGR system produced computer magnetic tapes which controlled the carving of plaster forms used to mold raised-relief maps. It was realized almost immediately that this relatively simple tool for carving plaster molds had enormous potential for storing, manipulating, and selectively displaying (either graphically or numerically) a vast number of terrain elevations. As the demand for the digital terrain tapes increased, DMATC began developing increasingly advanced digitizing systems and now operates the Digital Topographic Data Collection System (DTDCS). With DTDCS, two types of data elevations as contour lines and points, and stream and ridge lines are sorted, matched, and resorted to obtain a grid of elevation values for every 0.01 inch on each map (approximately 200 feet on the ground). Undefined points on the grid are found by either linear or or planar interpolation.

Pluto's Surface in Detail

NASA Image and Video Library

2017-07-14

On July 14, 2015, NASA's New Horizons spacecraft made its historic flight through the Pluto system. This detailed, high-quality global mosaic of Pluto was assembled from nearly all of the highest-resolution images obtained by the Long-Range Reconnaissance Imager (LORRI) and the Multispectral Visible Imaging Camera (MVIC) on New Horizons. The mosaic is the most detailed and comprehensive global view yet of Pluto's surface using New Horizons data. It includes topography data of the hemisphere visible to New Horizons during the spacecraft's closest approach. The topography is derived from digital stereo-image mapping tools that measure the parallax -- or the difference in the apparent relative positions -- of features on the surface obtained at different viewing angles during the encounter. Scientists use these parallax displacements of high and low terrain to estimate landform heights. The global mosaic has been overlain with transparent, colorized topography data wherever on the surface stereo data is available. Terrain south of about 30°S was in darkness leading up to and during the flyby, so is shown in black. Examples of large-scale topographic features on Pluto include the vast expanse of very flat, low-elevation nitrogen ice plains of Sputnik Planitia ("P") -- note that all feature names in the Pluto system are informal -- and, on the eastern edge of the encounter hemisphere, the aligned, high-elevation ridges of Tartarus Dorsa ("T") that host the enigmatic bladed terrain, mountains, possible cryovolcanos, canyons, craters and more. https://photojournal.jpl.nasa.gov/catalog/PIA21861

The nucleus of Comet Borrelly: A study of morphology and surface brightness

USGS Publications Warehouse

Oberst, J.; Howington-Kraus, E.; Kirk, R.; Soderblom, L.; Buratti, B.; Hicks, M.; Nelson, R.; Britt, D.

2004-01-01

Stereo images obtained during the DS1 flyby were analyzed to derive a topographic model for the nucleus of Comet 19P/Borrelly for morphologic and photometric studies. The elongated nucleus has an overall concave shape, resembling a peanut, with the lower end tilted towards the camera. The bimodal character of surface-slopes and curvatures support the idea that the nucleus is a gravitational aggregate, consisting of two fragments in contact. Our photometric modeling suggests that topographic shading effects on Borrelly's surface are very minor (<10%) at the given resolution of the terrain model. Instead, albedo effects are thought to dominate Borrelly's large variations in surface brightness. With 90% of the visible surface having single scattering albedos between 0.008 and 0.024, Borrelly is confirmed to be among the darkest of the known Solar System objects. Photometrically corrected images emphasize that the nucleus has distinct, contiguous terrains covered with either bright or dark, smooth or mottled materials. Also, mapping of the changes in surface brightness with phase angle suggests that terrain roughness at subpixel scale is not uniform over the nucleus. High surface roughness is noted in particular near the transition between the upper and lower end of the nucleus, as well as near the presumed source region of Borrelly's main jets. Borrelly's surface is complex and characterized by distinct types of materials that have different compositional and/or physical properties. ?? 2003 Elsevier Inc. All rights reserved.

ARC-1989-AC89-7054

NASA Image and Video Library

1989-08-28

Voyager violet, green and ultraviolet images of Triton were map projected into cylindrical coordinates and combines to produce this false-color terrain map. Several compositionally distinct terrain and geologic features are portrayed. At center is a gray-blue unit referred to as 'cantaloupe' terrain because of its unusual topographic texture. The unit appears to predate other units to the left. Immediately adjacent to the cantaloupe terrain, is a smoother unit, represented by a reddish color, that has been dissected by a prominent fault system. This unit apparently overlies a much-higher-albedo material, seen farther left. A prominent angular albedo boundary separates relatively undisturbed smooth terrain from irregular patches which seem to emanate from circular, often bright-centered features. The parallel streaks may represent vented particulate materials blown in the same direction by winds in Triton's thin atmosphere.

Discourse-Centric Learning Analytics: Mapping the Terrain

ERIC Educational Resources Information Center

Knight, Simon; Littleton, Karen

2015-01-01

There is an increasing interest in developing learning analytic techniques for the analysis, and support of, high-quality learning discourse. This paper maps the terrain of discourse-centric learning analytics (DCLA), outlining the distinctive contribution of DCLA and outlining a definition for the field moving forwards. It is our claim that DCLA…

Map-Reading Skill Development with 3D Technologies

ERIC Educational Resources Information Center

Carbonell Carrera, Carlos; Avarvarei, Bogdan Vlad; Chelariu, Elena Liliana; Draghia, Lucia; Avarvarei, Simona Catrinel

2017-01-01

Landforms often are represented on maps using abstract cartographic techniques that the reader must interpret for successful three-dimensional terrain visualization. New technologies in 3D landscape representation, both digital and tangible, offer the opportunity to visualize terrain in new ways. The results of a university student workshop, in…

Three-dimensional illumination and thermal model of the Abydos region on comet 67P/Churyumov-Gerasimenko

NASA Astrophysics Data System (ADS)

Kömle, Norbert I.; Macher, Wolfgang; Tiefenbacher, Patrick; Kargl, Günter; Pelivan, Ivanka; Knollenberg, Jörg; Spohn, Tilman; Jorda, Laurent; Capanna, Claire; Lommatsch, Valentina; Cozzoni, Barbara; Finke, Felix

2017-07-01

On 2014 November 12 Rosetta's comet lander Philae arrived on the surface of Comet 67P/Churyumov-Gerasimenko. Among the data collected by the instruments on board are images from the panorama camera CIVA and the down looking camera ROLIS, as well as temperature measurements recorded by the sensors of the MUPUS experiment and by various housekeeping sensors. In combination with remote observations by the cameras OSIRIS and NAVCAM and other instruments on the Rosetta Orbiter, it was possible to construct a reasonable model of the terrain in the close vicinity of the landing site Abydos. We have collected all available information on the position and orientation of Philae, as well as on Abydos, where the terrain can be partially reconstructed with a resolution in the decimetre range. On this basis, a 3D model for the determination of solar irradiation and thermal evolution of the region was developed. Our calculations comprise the heating and cooling process of the local surface features around Philae. Two different scenarios are studied: non-volatile material (dust mantle) covering the whole surface, and a non-volatile surface containing spots of volatile water ice where free sublimation is possible. The presented 3D model also has the potential to be applied to thermal evolution studies of other regions on the comet, for which high-resolution digital terrain models are available.

Analysis of terrain map matching using multisensing techniques for applications to autonomous vehicle navigation

NASA Technical Reports Server (NTRS)

Page, Lance; Shen, C. N.

1991-01-01

This paper describes skyline-based terrain matching, a new method for locating the vantage point of laser range-finding measurements on a global map previously prepared by satellite or aerial mapping. Skylines can be extracted from the range-finding measurements and modelled from the global map, and are represented in parametric, cylindrical form with azimuth angle as the independent variable. The three translational parameters of the vantage point are determined with a three-dimensional matching of these two sets of skylines.

Enceladus Up-Close

NASA Image and Video Library

2015-10-30

During its closest ever dive past the active south polar region of Saturn moon Enceladus, NASA Cassini spacecraft quickly shuttered its imaging cameras to capture glimpses of the fast moving terrain below.

Application of the Deformation Information System for automated analysis and mapping of mining terrain deformations - case study from SW Poland

NASA Astrophysics Data System (ADS)

Blachowski, Jan; Grzempowski, Piotr; Milczarek, Wojciech; Nowacka, Anna

2015-04-01

Monitoring, mapping and modelling of mining induced terrain deformations are important tasks for quantifying and minimising threats that arise from underground extraction of useful minerals and affect surface infrastructure, human safety, the environment and security of the mining operation itself. The number of methods and techniques used for monitoring and analysis of mining terrain deformations is wide and expanding with the progress in geographical information technologies. These include for example: terrestrial geodetic measurements, Global Navigation Satellite Systems, remote sensing, GIS based modelling and spatial statistics, finite element method modelling, geological modelling, empirical modelling using e.g. the Knothe theory, artificial neural networks, fuzzy logic calculations and other. The presentation shows the results of numerical modelling and mapping of mining terrain deformations for two cases of underground mining sites in SW Poland, hard coal one (abandoned) and copper ore (active) using the functionalities of the Deformation Information System (DIS) (Blachowski et al, 2014 @ http://meetingorganizer.copernicus.org/EGU2014/EGU2014-7949.pdf). The functionalities of the spatial data modelling module of DIS have been presented and its applications in modelling, mapping and visualising mining terrain deformations based on processing of measurement data (geodetic and GNSS) for these two cases have been characterised and compared. These include, self-developed and implemented in DIS, automation procedures for calculating mining terrain subsidence with different interpolation techniques, calculation of other mining deformation parameters (i.e. tilt, horizontal displacement, horizontal strain and curvature), as well as mapping mining terrain categories based on classification of the values of these parameters as used in Poland. Acknowledgments. This work has been financed from the National Science Centre Project "Development of a numerical method of mining ground deformation modelling in complex geological and mining conditions" UMO-2012/07/B/ST10/04297 executed at the Faculty of Geoengineering, Mining and Geology of the Wroclaw University of Technology (Poland).

Selection of the InSight landing site

USGS Publications Warehouse

Golombek, M.; Kipp, D.; Warner, N.; Daubar, Ingrid J.; Fergason, Robin L.; Kirk, Randolph L.; Beyer, R.; Huertas, A.; Piqueux, Sylvain; Putzig, N.E.; Campbell, B.A.; Morgan, G. A.; Charalambous, C.; Pike, W. T.; Gwinner, K.; Calef, F.; Kass, D.; Mischna, M A; Ashley, J.; Bloom, C.; Wigton, N.; Hare, T.; Schwartz, C.; Gengl, H.; Redmond, L.; Trautman, M.; Sweeney, J.; Grima, C.; Smith, I. B.; Sklyanskiy, E.; Lisano, M.; Benardini, J.; Smrekar, S.E.; Lognonne, P.; Banerdt, W. B.

2017-01-01

The selection of the Discovery Program InSight landing site took over four years from initial identification of possible areas that met engineering constraints, to downselection via targeted data from orbiters (especially Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) and High-Resolution Imaging Science Experiment (HiRISE) images), to selection and certification via sophisticated entry, descent and landing (EDL) simulations. Constraints on elevation (≤−2.5 km">≤−2.5 km≤−2.5 km for sufficient atmosphere to slow the lander), latitude (initially 15°S–5°N and later 3°N–5°N for solar power and thermal management of the spacecraft), ellipse size (130 km by 27 km from ballistic entry and descent), and a load bearing surface without thick deposits of dust, severely limited acceptable areas to western Elysium Planitia. Within this area, 16 prospective ellipses were identified, which lie ∼600 km north of the Mars Science Laboratory (MSL) rover. Mapping of terrains in rapidly acquired CTX images identified especially benign smooth terrain and led to the downselection to four northern ellipses. Acquisition of nearly continuous HiRISE, additional Thermal Emission Imaging System (THEMIS), and High Resolution Stereo Camera (HRSC) images, along with radar data confirmed that ellipse E9 met all landing site constraints: with slopes <15° at 84 m and 2 m length scales for radar tracking and touchdown stability, low rock abundance (<10 %) to avoid impact and spacecraft tip over, instrument deployment constraints, which included identical slope and rock abundance constraints, a radar reflective and load bearing surface, and a fragmented regolith ∼5 m thick for full penetration of the heat flow probe. Unlike other Mars landers, science objectives did not directly influence landing site selection.

Use of borehole and surface geophysics to investigate ground-water quality near a road-deicing salt-storage facility, Valparaiso, Indiana

USGS Publications Warehouse

Risch, M.R.; Robinson, B.A.

2001-01-01

Two surface surveys of terrain electromagnetic conductivity were used to map the horizontal extent of the saltwater plume in areas without monitoring wells. Background values of terrain conductivity were measured in an area where water-quality and borehole geophysical data did not indicate saline or brackish water. Based on a guideline from previous case studies, the boundaries of the saltwater plume were mapped where terrain conductivity was 1.5 times background. The extent of the saltwater plume, based on terrain conductivity, generally was consistent with the available water-quality and borehole electromagnetic-conductivity data and with directions of ground-water flow determined from water-level altitudes.

Spatial Cognition and Map Interpretation

DTIC Science & Technology

1987-09-01

Terrain association Spatial cognition Map reading Videogames aa mldm II naeaaaaiy and Hontlty by block numbor) Spatial memory span Orientation...ability. Finally, field and classroom performance was compared to wayfinding in a simulated ( videogame ) environment in which position coordinates were...a simulated ( videogame ) environment. Findings: MITAC instruction significantly improved the experimental group’s ability to perform terrain

Small-scale martian polygonal terrain: Implications for liquid surface water

USGS Publications Warehouse

Seibert, N.M.; Kargel, J.S.

2001-01-01

Images from the Mars Orbiter Camera (MOC) through August 1999 were analyzed for the global distribution of small-scale polygonal terrain not clearly resolved in Viking Orbiter imagery. With very few exceptions, small-scale polygonal terrain occurs at middle to high latitudes of the northern and southern hemisphere in Hesperian-age geologic units. The largest concentration of this terrain occurs in the Utopia basin in close association with scalloped depressions (interpreted as thermokarst) and appears to represent an Amazonia event. The morphology and occurence of small polygonal terrain suggest they are either mud desiccation cracks or ice-wedge polygons. Because the small-scale polygons in Utopia and Argyre Planitiae are associated with other cold-climate permafrost or glacial features, an ice-wedge model is preferred for these areas. Both cracking mechanisms work most effectively in water- or ice-rich finegrained material and may imply the seasonal or episodic existence of liquid water at the surface.

Spatial and temporal variability of hyperspectral signatures of terrain

NASA Astrophysics Data System (ADS)

Jones, K. F.; Perovich, D. K.; Koenig, G. G.

2008-04-01

Electromagnetic signatures of terrain exhibit significant spatial heterogeneity on a range of scales as well as considerable temporal variability. A statistical characterization of the spatial heterogeneity and spatial scaling algorithms of terrain electromagnetic signatures are required to extrapolate measurements to larger scales. Basic terrain elements including bare soil, grass, deciduous, and coniferous trees were studied in a quasi-laboratory setting using instrumented test sites in Hanover, NH and Yuma, AZ. Observations were made using a visible and near infrared spectroradiometer (350 - 2500 nm) and hyperspectral camera (400 - 1100 nm). Results are reported illustrating: i) several difference scenes; ii) a terrain scene time series sampled over an annual cycle; and iii) the detection of artifacts in scenes. A principal component analysis indicated that the first three principal components typically explained between 90 and 99% of the variance of the 30 to 40-channel hyperspectral images. Higher order principal components of hyperspectral images are useful for detecting artifacts in scenes.

A Description of Sub-Equatorial Volcanic Structures Consistent with Sub-Ice Magmatism East of Nepenthes Mensae, Mars.

NASA Astrophysics Data System (ADS)

Caprarelli, G.; de Pablo Hernandez, M. A.

2014-12-01

The Martian region located immediately north of the dichotomy scarp, between latitudes 120°E and 135°E, is covered by fretted terrains, characterised by the presence of knobs and mesas formed by eroded and reworked material of highlands provenance, and the smoother terrains between them [1]. Topographic depressions of oblong shape, generally parallel to the scarp, of rough and chaotic appearance, are also observed. The high resolution (~ 6 m/pixel, [2]) Context Camera (CTX) on board Mars Reconnaissance Orbiter (MRO) makes it possible to examine the morphologies of these topographic depressions in great detail, unveiling their complex geological histories. Here we expand on our earlier work in the adjacent Nepenthes Mensae region [3] and present the results of our observations of morphologies of likely igneous origin. We identified a variety of shapes consistent with magmatic structures and constructs: dikes, collapsed lava tubes, and lava flows are observable in the smoother terrains. Most of the elevated structures in the areas are strongly eroded knobs and mesas covered by dust and debris. In some cases however, the morphological characteristics of 2-10 km-size structures are clear and sharp, which allowed us to identify features consistent with sub-ice volcanic constructs, such as tuyas and tindars [4]. Geological reconstructions involving magma-ice interaction are supported by the presence of lobate aprons around knobs and mesas, and of scalloped ejecta surrounding complex impact craters, suggesting the existence of ice both underground and on the surface of these low elevation areas at the time of formation of these constructs. [1] Tanaka et al. (2005) Geologic Map of the Northern Plains of Mars. USGS SIM 2888. [2] Malin et al. (2007) Context Camera investigation on board the Mars Reconnaissance Orbiter. JGR 112, E05S04, 10.1029/2006JE002808. [3] dePablo and Caprarelli (2010) Possible subglacial volcanoes in Nepenthes Mensae, eastern hemisphere, Mars. LPSC 41, 1584. [4] Jakobsson and Gudmundsson (2008) Subglacial and intraglacial volcanic formations in Iceland. Jökull 58, 179-196.

Auto-calibration of GF-1 WFV images using flat terrain

NASA Astrophysics Data System (ADS)

Zhang, Guo; Xu, Kai; Huang, Wenchao

2017-12-01

Four wide field view (WFV) cameras with 16-m multispectral medium-resolution and a combined swath of 800 km are onboard the Gaofen-1 (GF-1) satellite, which can increase the revisit frequency to less than 4 days and enable large-scale land monitoring. The detection and elimination of WFV camera distortions is key for subsequent applications. Due to the wide swath of WFV images, geometric calibration using either conventional methods based on the ground control field (GCF) or GCF independent methods is problematic. This is predominantly because current GCFs in China fail to cover the whole WFV image and most GCF independent methods are used for close-range photogrammetry or computer vision fields. This study proposes an auto-calibration method using flat terrain to detect nonlinear distortions of GF-1 WFV images. First, a classic geometric calibration model is built for the GF1 WFV camera, and at least two images with an overlap area that cover flat terrain are collected, then the elevation residuals between the real elevation and that calculated by forward intersection are used to solve nonlinear distortion parameters in WFV images. Experiments demonstrate that the orientation accuracy of the proposed method evaluated by GCF CPs is within 0.6 pixel, and residual errors manifest as random errors. Validation using Google Earth CPs further proves the effectiveness of auto-calibration, and the whole scene is undistorted compared to not using calibration parameters. The orientation accuracy of the proposed method and the GCF method is compared. The maximum difference is approximately 0.3 pixel, and the factors behind this discrepancy are analyzed. Generally, this method can effectively compensate for distortions in the GF-1 WFV camera.

Monocular depth perception using image processing and machine learning

NASA Astrophysics Data System (ADS)

Hombali, Apoorv; Gorde, Vaibhav; Deshpande, Abhishek

2011-10-01

This paper primarily exploits some of the more obscure, but inherent properties of camera and image to propose a simpler and more efficient way of perceiving depth. The proposed method involves the use of a single stationary camera at an unknown perspective and an unknown height to determine depth of an object on unknown terrain. In achieving so a direct correlation between a pixel in an image and the corresponding location in real space has to be formulated. First, a calibration step is undertaken whereby the equation of the plane visible in the field of view is calculated along with the relative distance between camera and plane by using a set of derived spatial geometrical relations coupled with a few intrinsic properties of the system. The depth of an unknown object is then perceived by first extracting the object under observation using a series of image processing steps followed by exploiting the aforementioned mapping of pixel and real space coordinate. The performance of the algorithm is greatly enhanced by the introduction of reinforced learning making the system independent of hardware and environment. Furthermore the depth calculation function is modified with a supervised learning algorithm giving consistent improvement in results. Thus, the system uses the experience in past and optimizes the current run successively. Using the above procedure a series of experiments and trials are carried out to prove the concept and its efficacy.

Geologic Mapping of the V-36 Thetis Regio Quadrangle: 2008 Progress Report

NASA Technical Reports Server (NTRS)

Basilevsky, A. T.; Head, James W.

2008-01-01

As a result of mapping, eleven material stratigraphic units and three structural units have been identified and mapped. The material units include (from older to younger): tessera terrain material (tt), material of densely fractured plains (pdf), material of fractured and ridged plains (pfr), material of shield plains (psh), material of plains with wrinkle ridges (pwr), material of smooth plains of intermediate brightness (psi), material of radardark smooth plains (psd), material of lineated plains (pli) material of lobate plains (plo), material of craters having no radar-dark haloes (c1), and material of craters having clear dark haloes (c2). The morphologies and probably the nature of the material units in the study area are generally similar to those observed in other regions of Venus [2]. The youngest units are lobate plains (plo) which here typically look less lobate than in other areas of the planet. Close to them in age are smooth plains which are indeed smooth and represented by two varieties mentioned above. Lineated plains (pli) are densely fractured in a geometrically regular way. Plains with wrinkle ridges, being morphologically similar to those observed in other regions, here occupy unusually small areas. Shield (psh) plains here are also not abundant. Locally they show wrinkle ridging. Fractured and ridged plains (pfr), which form in other regions, the so called ridge belts, are observed as isolated areas of clusters of ridged plains surrounded by other units. Densely fractured plains (pdf) are present in relatively small areas in association with coronae and corona-like features. Tessera terrain (tt) is dissected by structures oriented in two or more directions. Structures are so densely packed that the morphology (and thus nature) of the precursor terrain is not known. Structural units include tessera transitional terrain (ttt), fracture belts (fb) and rifted terrain (rt). Tessera transitional terrain was first identified and mapped by [4] as areas of fractured and ridged plains (pfr) and densely fractured plains (pdf) deformed by transverse faults that made it formally resemble tessera terrain (tt). The obvious difference between units tt and ttt is the recognizable morphology of precursor terrain of unit ttt. Fracture belts are probably ancient rift zones [3]. Rifted terrain (rt), as in other regions of Venus, is so saturated with faults that according to the recommendation of [1, 5] it should be mapped as a structural unit.

Catchment-Scale Terrain Modelling with Structure-from-Motion Photogrammetry: a replacement for airborne lidar?

NASA Astrophysics Data System (ADS)

Brasington, J.

2015-12-01

Over the last five years, Structure-from-Motion photogrammetry has dramatically democratized the availability of high quality topographic data. This approach involves the use of a non-linear bundle adjustment to estimate simultaneously camera position, pose, distortion and 3D model coordinates. In contrast to traditional aerial photogrammetry, the bundle adjustment is typically solved without external constraints and instead ground control is used a posteriori to transform the modelled coordinates to an established datum using a similarity transformation. The limited data requirements, coupled with the ability to self-calibrate compact cameras, has led to a burgeoning of applications using low-cost imagery acquired terrestrially or from low-altitude platforms. To date, most applications have focused on relatively small spatial scales where relaxed logistics permit the use of dense ground control and high resolution, close-range photography. It is less clear whether this low-cost approach can be successfully upscaled to tackle larger, watershed-scale projects extending over 102-3 km2 where it could offer a competitive alternative to landscape modelling with airborne lidar. At such scales, compromises over the density of ground control, the speed and height of sensor platform and related image properties are inevitable. In this presentation we provide a systematic assessment of large-scale SfM terrain products derived for over 80 km2 of the braided Dart River and its catchment in the Southern Alps of NZ. Reference data in the form of airborne and terrestrial lidar are used to quantify the quality of 3D reconstructions derived from helicopter photography and used to establish baseline uncertainty models for geomorphic change detection. Results indicate that camera network design is a key determinant of model quality, and that standard aerial networks based on strips of nadir photography can lead to unstable camera calibration and systematic errors that are difficult to model with sparse ground control. We demonstrate how a low cost multi-camera platform providing both nadir and oblique imagery can support robust camera calibration, enabling the generation of high quality, large-scale terrain products that are suitable for precision fluvial change detection.

Fretted Terrain Valleys

NASA Technical Reports Server (NTRS)

2004-01-01

30 October 2004 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows shallow tributary valleys in the Ismenius Lacus fretted terrain region of northern Arabia Terra. These valleys exhibit a variety of typical fretted terrain valley wall and floor textures, including a lineated, pitted material somewhat reminiscent of the surface of a brain. Origins for these features are still being debated within the Mars science community; there are no clear analogs to these landforms on Earth. This image is located near 39.9oN, 332.1oW. The picture covers an area about 3 km (1.9 mi) wide. Sunlight illuminates the scene from the lower left.

Thermal Effects on Camera Focal Length in Messenger Star Calibration and Orbital Imaging

NASA Astrophysics Data System (ADS)

Burmeister, S.; Elgner, S.; Preusker, F.; Stark, A.; Oberst, J.

2018-04-01

We analyse images taken by the MErcury Surface, Space ENviorment, GEochemistry, and Ranging (MESSENGER) spacecraft for the camera's thermal response in the harsh thermal environment near Mercury. Specifically, we study thermally induced variations in focal length of the Mercury Dual Imaging System (MDIS). Within the several hundreds of images of star fields, the Wide Angle Camera (WAC) typically captures up to 250 stars in one frame of the panchromatic channel. We measure star positions and relate these to the known star coordinates taken from the Tycho-2 catalogue. We solve for camera pointing, the focal length parameter and two non-symmetrical distortion parameters for each image. Using data from the temperature sensors on the camera focal plane we model a linear focal length function in the form of f(T) = A0 + A1 T. Next, we use images from MESSENGER's orbital mapping mission. We deal with large image blocks, typically used for the production of a high-resolution digital terrain models (DTM). We analyzed images from the combined quadrangles H03 and H07, a selected region, covered by approx. 10,600 images, in which we identified about 83,900 tiepoints. Using bundle block adjustments, we solved for the unknown coordinates of the control points, the pointing of the camera - as well as the camera's focal length. We then fit the above linear function with respect to the focal plane temperature. As a result, we find a complex response of the camera to thermal conditions of the spacecraft. To first order, we see a linear increase by approx. 0.0107 mm per degree temperature for the Narrow-Angle Camera (NAC). This is in agreement with the observed thermal response seen in images of the panchromatic channel of the WAC. Unfortunately, further comparisons of results from the two methods, both of which use different portions of the available image data, are limited. If leaving uncorrected, these effects may pose significant difficulties in the photogrammetric analysis, specifically these may be responsible for erroneous longwavelength trends in topographic models.

Visual terrain mapping for traversable path planning of mobile robots

NASA Astrophysics Data System (ADS)

Shirkhodaie, Amir; Amrani, Rachida; Tunstel, Edward W.

2004-10-01

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

EU-FP7-iMARS: Analysis of Mars Multi-Resolution Images Using Auto-Coregistration Data Mining and Crowd Source Techniques: Processed Results - a First Look

NASA Astrophysics Data System (ADS)

Muller, Jan-Peter; Tao, Yu; Sidiropoulos, Panagiotis; Gwinner, Klaus; Willner, Konrad; Fanara, Lida; Waehlisch, Marita; van Gasselt, Stephan; Walter, Sebastian; Steikert, Ralf; Schreiner, Bjoern; Ivanov, Anton; Cantini, Federico; Wardlaw, Jessica; Morley, Jeremy; Sprinks, James; Giordano, Michele; Marsh, Stuart; Kim, Jungrack; Houghton, Robert; Bamford, Steven

2016-06-01

Understanding planetary atmosphere-surface exchange and extra-terrestrial-surface formation processes within our Solar System is one of the fundamental goals of planetary science research. There has been a revolution in planetary surface observations over the last 15 years, especially in 3D imaging of surface shape. This has led to the ability to overlay image data and derived information from different epochs, back in time to the mid 1970s, to examine changes through time, such as the recent discovery of mass movement, tracking inter-year seasonal changes and looking for occurrences of fresh craters. Within the EU FP-7 iMars project, we have developed a fully automated multi-resolution DTM processing chain, called the Coregistration ASP-Gotcha Optimised (CASP-GO), based on the open source NASA Ames Stereo Pipeline (ASP) [Tao et al., this conference], which is being applied to the production of planetwide DTMs and ORIs (OrthoRectified Images) from CTX and HiRISE. Alongside the production of individual strip CTX & HiRISE DTMs & ORIs, DLR [Gwinner et al., 2015] have processed HRSC mosaics of ORIs and DTMs for complete areas in a consistent manner using photogrammetric bundle block adjustment techniques. A novel automated co-registration and orthorectification chain has been developed by [Sidiropoulos & Muller, this conference]. Using the HRSC map products (both mosaics and orbital strips) as a map-base it is being applied to many of the 400,000 level-1 EDR images taken by the 4 NASA orbital cameras. In particular, the NASA Viking Orbiter camera (VO), Mars Orbiter Camera (MOC), Context Camera (CTX) as well as the High Resolution Imaging Science Experiment (HiRISE) back to 1976. A webGIS has been developed [van Gasselt et al., this conference] for displaying this time sequence of imagery and will be demonstrated showing an example from one of the HRSC quadrangle map-sheets. Automated quality control [Sidiropoulos & Muller, 2015] techniques are applied to screen for suitable images and these are extended to detect temporal changes in features on the surface such as mass movements, streaks, spiders, impact craters, CO2 geysers and Swiss Cheese terrain. For result verification these data mining techniques are then being employed within a citizen science project within the Zooniverse family. Examples of data mining and its verification will be presented.

Mapping the Terrain of Educational Leadership and Management in East Asia

ERIC Educational Resources Information Center

Hallinger, Philip; Bryant, Darren

2013-01-01

Purpose: The purpose of this paper is to gain perspective on the extent to which the vision for knowledge production in East Asia set forth by Bajunid, Cheng, Hallinger, Walker, Dimmock and others almost 20 years ago has been fulfilled. The authors undertook an effort to map the terrain of knowledge production in educational leadership and…

Cultural Terrain -- Mapping out the Future

DTIC Science & Technology

2007-01-01

Quantico, Virginia 22134-5068 MASTER OF OPERATIONAL STUDIES TITLE: CULTURAL TERRAIN – MAPPING OUT THE FUTURE SUBMITTED IN PARTIAL...FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF OPERATIONAL STUDIES AUTHOR: MAJOR DANIEL A. SCHMITT, UNITED STATES MARINE CORPS...GOVERNMENTAL AGENCY. REFERENCES TO THIS STUDY SHOULD INCLUDE THE FOREGOING STATEMENT. QUOTATION FROM, ABSTRACTION FROM, OR REPRODUCTION OF ALL OR ANY

Solar Maps Development: How the Maps Were Made | Geospatial Data Science |

Science.gov Websites

10% of a true measured value within the grid cell. Due to terrain effects and other microclimate effects and other microclimate influences, the local cloud cover can vary significantly even within a approximately 10% of a true measured value within the grid cell. Due to terrain effects and other microclimate

Location of Sites Within 'Cryptic Terrain'

NASA Technical Reports Server (NTRS)

2007-01-01

A regional landscape near Mars' south pole is called 'cryptic terrain' because it once defied explanation, but new observations bolster and refine interpretations of how springtime outbursts of carbon-dioxide gas there sculpt intricate patterns and paint seasonal splotches. This map indicates locations of three sites that have been examined within the area of cryptic terrain, informally designated 'Manhattan,' 'Giza' and 'Ithaca.'

The underlying map offers context of brightness measurements from the Thermal Emission Spectrometer instrument draped over a shaded relief map based on data from the Mars Orbiter Laser Altimeter instrument. Cool colors are areas with a low albedo (dark) and warm colors are areas which have high albedo (bright). Both of those instruments flew on NASA's Mars Global Surveyor orbiter.

MRO High Resolution Imaging Science Experiment (HiRISE): Instrument Development

NASA Technical Reports Server (NTRS)

Delamere, Alan; Becker, Ira; Bergstrom, Jim; Burkepile, Jon; Day, Joe; Dorn, David; Gallagher, Dennis; Hamp, Charlie; Lasco, Jeffrey; Meiers, Bill

2003-01-01

The primary functional requirement of the HiRISE imager is to allow identification of both predicted and unknown features on the surface of Mars to a much finer resolution and contrast than previously possible. This results in a camera with a very wide swath width, 6km at 300km altitude, and a high signal to noise ratio, >100:1. Generation of terrain maps, 30 cm vertical resolution, from stereo images requires very accurate geometric calibration. The project limitations of mass, cost and schedule make the development challenging. In addition, the spacecraft stability must not be a major limitation to image quality. The nominal orbit for the science phase of the mission is a 3pm orbit of 255 by 320 km with periapsis locked to the south pole. The track velocity is approximately 3,400 m/s.

Geologic mapping of Northern Atla Regio on Venus: Preliminary data

NASA Technical Reports Server (NTRS)

Nikishin, A. M.; Burba, G. A.

1993-01-01

The Northern part of Atla Regio within the frame of C1-formate Magellan photo map 15N197 was mapped geologically at scale 1:8,000,000. This is a part of Russia's contribution into C1 geologic mapping efforts. The map is reproduced here being reduced about twice. The map shows that the Northern Atla area is predominantly a volcanic plain with numerous volcanic features: shield volcanoes, domes and hills with various morphology, corona-like constructions, radar bright and dark spots often with flow-like outlines. Relatively small areas of tessera occurred in the area are mainly semi-flooded with the plain material. Tesserae are considered to be the oldest terrains within the map sheet. There are many lineated terrains in the region. They are interpreted as the old, almost-buried tesserae (those with crossed lineaments) or partly buried ridge belts (those with parallel lineaments). These lineated terrains have an intermediate age between the young volcanic plains and the old tessera areas. Two prominent high volcanic shields are located within the region - Ozza Mons and Sapas Mona. The most prominent structure in Northern Atla is Ganis Chasma rift. The rift cuts volcanic plain and is considered to be under formation during approximately the same time with Ozza Mons shield. Ganis Chasma rift valley is highly fractured and bounded with fault scarps. Rift shoulder uplifts are typical for Ganis Chasma. There are few relatively young volcanic features inside the rift valley. The analysis of fracturing and rift valley geometry shows the rift originated due to 5-10 percent crustal extention followed by the crustal subsidence. The age sequence summary for the main terrain types in the region is (from older to younger ones): tesserae; lineated terrains with crossed lineaments; lineated terrains with parallel lineaments; volcanic plains; and prominent volcanic shields and Ganis Chasma rift valley. The geologic structure of Atla Regio as it appeared now with the Magellan high resolution images is very close to that of Beta Regio. Such conclusion coincide with the earlier ones based on the coarser data.

Geomorphology and vegetation mapping the ice-free terrains of the Western Antarctic Peninsula region using very high resolution imagery from an UAV

NASA Astrophysics Data System (ADS)

Vieira, G.; Mora, C.; Pina, P.; Bandeira, L.; Hong, S. G.

2014-12-01

The West Antarctic Peninsula (WAP) is one of the Earth's regions with a fastest warming signal since the 1950's with an increase of over +2.5 ºC in MAAT. Significant changes have been reported for glaciers, ice-shelves, sea-ice and also for the permafrost environment. Mapping and monitoring the ice-free areas of the WAP has been until recently limited by the available aerial photo surveys, but also by the scarce high resolution satellite imagery (e.g. QuickBird, WorldView, etc.) that are seriously constrained by the high cloudiness of the region. Recent developments in Unmanned Aerial Vehicles (UAV's), which have seen significant technological advances and price reduction in the last few years, allow for its systematical use for mapping and monitoring in remote environments. In the framework of projects PERMANTAR-3 (PTDC/AAG-GLO/3908/2012 - FCT) and 3DAntártida (Ciência Viva), we complement traditional terrain surveying and mapping, satellite remote sensing (SAR and optical) and D-GPS deformation monitoring, with the application of an UAV. In this communication, we present the results from the application of a Sensefly ebee UAV in mapping the vegetation and geomorphological processes (e.g. sorted circles), as well as for digital elevation model generation in a test site in Barton Pen., King George Isl.. The UAV is a lightweight (ci. 700g) aircraft, with a 96 cm wingspan, which is portable and easy to transport. It allows for up to 40 min flight time, with application of RGB or NIR cameras. We have tested the ebee successfully with winds up to 10 m/s and obtained aerial photos with a ground resolution of 4 cm/pixel. The digital orthophotomaps, high resolution DEM's together with field observations have allowed for deriving geomorphological maps with unprecedented detail and accuracy, providing new insight into the controls on the spatial distribution of geomorphological processes. The talk will focus on the first results from the field surveys of February and March 2014 and will also include some test data from the mountains of serra da Estrela, Portugal. New surveying is planned for the season of 2014-15 with mapping to be conducted in Livingston and King George Islands.

Recurring Lineae on Slopes at Hale Crater, Mars

NASA Image and Video Library

2015-09-28

Dark, narrow streaks on Martian slopes such as these at Hale Crater are inferred to be formed by seasonal flow of water on contemporary Mars. The streaks are roughly the length of a football field. The imaging and topographical information in this processed, false-color view come from the High Resolution Imaging Science Experiment (HiRISE) camera on NASA's Mars Reconnaissance Orbiter. These dark features on the slopes are called "recurring slope lineae" or RSL. Planetary scientists using observations with the Compact Reconnaissance Imaging Spectrometer on the same orbiter detected hydrated salts on these slopes at Hale Crater, corroborating the hypothesis that the streaks are formed by briny liquid water. The image was produced by first creating a 3-D computer model (a digital terrain map) of the area based on stereo information from two HiRISE observations, and then draping a false-color image over the land-shape model. The vertical dimension is exaggerated by a factor of 1.5 compared to horizontal dimensions. The camera records brightness in three wavelength bands: infrared, red and blue-green. The draped image is one product from HiRISE observation ESP_03070_1440. http://photojournal.jpl.nasa.gov/catalog/PIA19916

A simple landslide susceptibility analysis for hazard and risk assessment in developing countries

NASA Astrophysics Data System (ADS)

Guinau, M.; Vilaplana, J. M.

2003-04-01

In recent years, a number of techniques and methodologies have been developed for mitigating natural disasters. The complexity of these methodologies and the scarcity of material and data series justify the need for simple methodologies to obtain the necessary information for minimising the effects of catastrophic natural phenomena. The work with polygonal maps using a GIS allowed us to develop a simple methodology, which was developed in an area of 473 Km2 in the Departamento de Chinandega (NW Nicaragua). This area was severely affected by a large number of landslides (mainly debris flows), triggered by the Hurricane Mitch rainfalls in October 1998. With the aid of aerial photography interpretation at 1:40.000 scale, amplified to 1:20.000, and detailed field work, a landslide map at 1:10.000 scale was constructed. The failure zones of landslides were digitized in order to obtain a failure zone digital map. A terrain unit digital map, in which a series of physical-environmental terrain factors are represented, was also used. Dividing the studied area into two zones (A and B) with homogeneous physical and environmental characteristics, allows us to develop the proposed methodology and to validate it. In zone A, the failure zone digital map is superimposed onto the terrain unit digital map to establish the relationship between the different terrain factors and the failure zones. The numerical expression of this relationship enables us to classify the terrain by its landslide susceptibility. In zone B, this numerical relationship was employed to obtain a landslide susceptibility map, obviating the need for a failure zone map. The validity of the methodology can be tested in this area by using the degree of superposition of the susceptibility map and the failure zone map. The implementation of the methodology in tropical countries with physical and environmental characteristics similar to those of the study area allows us to carry out a landslide susceptibility analysis in areas where landslide records do not exist. This analysis is essential to landslide hazard and risk assessment, which is necessary to determine the actions for mitigating landslide effects, e.g. land planning, emergency aid actions, etc.

Mathematical Modeling Of The Terrain Around A Robot

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1992-01-01

In conceptual system for modeling of terrain around autonomous mobile robot, representation of terrain used for control separated from representation provided by sensors. Concept takes motion-planning system out from under constraints imposed by discrete spatial intervals of square terrain grid(s). Separation allows sensing and motion-controlling systems to operate asynchronously; facilitating integration of new map and sensor data into planning of motions.

Spirit's Express Route to 'Columbia Hills'

NASA Technical Reports Server (NTRS)

2004-01-01

This map illustrates the Mars Exploration Rover Spirit's position as of sol 112 (April 26, 2004), near the crater called 'Missoula.' Like a train on a tight schedule, Spirit will make regular stops along the way to its ultimate destination, the 'Columbia Hills.' At each stop, or 'station,' the rover will briefly analyze the area's rocks and soils. Each tick mark on the rover's route represents one sol's worth of travel, or about 60 to 70 meters (200 to 230 feet). Rover planners estimate that Spirit will reach the hills around mid-June. Presently, the rover is stopped at a site called 'Plains Station.'

The color thermal data show how well different surface features hold onto heat. Red indicates a higher thermal inertia associated with rocky terrain (cooler in the day, warmer at night); blue indicates a lower thermal inertia associated with smaller particles and fewer rocks (warmer at night, cooler in the day). During its traverse, Spirit will document the causes of these thermal variations.

The map comprises data from the camera on NASA's Mars Global Surveyor orbiter and the thermal emission imaging system on NASA's Mars Odyssey orbiter.

Determining the Suitability of Different Digital Elevation Models and Satellite Images for Fancy Maps. An Example of Cyprus

NASA Astrophysics Data System (ADS)

Drachal, J.; Kawel, A. K.

2016-06-01

The article describes the possibility of developing an overall map of the selected area on the basis of publicly available data. Such a map would take the form designed by the author with the colors that meets his expectations and a content, which he considers to be appropriate. Among the data available it was considered the use of satellite images of the terrain in real colors and, in the form of shaded relief, digital terrain models with different resolutions of the terrain mesh. Specifically the considered data were: MODIS, Landsat 8, GTOPO-30, SRTM-30, SRTM-1, SRTM-3, ASTER. For the test area the island of Cyprus was chosen because of the importance in tourism, a relatively small area and a clearly defined boundary. In the paper there are shown and discussed various options of the Cyprus terrain image obtained synthetically from variants of Modis, Landsat and digital elevation models of different resolutions.

Spatial Mapping of NEO 2008 EV5 Using Small Satellite Formation Flying and Steresoscopic Technology

NASA Astrophysics Data System (ADS)

Gonzalez, Juan; Singh Derewa, Chrishma

2016-10-01

NASA is currently developing the first-ever robotic Asteroid Redirect Robotic Mission (ARRM) to the near-Earth asteroid 2008 EV5 with the objective to capture a multi-ton boulder from the asteroids surface and use its mass to redirect its parent into a CIS lunar orbit where astronauts will study its physical and chemical composition.A critical step towards achieving this mission is to effectively map the target asteroid, identify the candidate boulder for retrieval and characterize its critical parameters. Currently, ARRM utilizes a laser altimeter to characterize the height of the boulders and mapping for final autonomous control of the capture. The proposed Lava-Kusha mission provides the increased of stereoscopic imaging and mapping, not only the Earthward side of the asteroid which has been observed for possible landing sites, but mapping the whole asteroid. LKM will enhance the fidelity of the data collected by the laser altimeter and gather improved topographic data for future Orion missions to 2008 EV5 once in cis lunar space.LKM consists of two low cost small satellites (6U) as a part of the ARRM. They will launch with ARRM as an integrated part of the system. Once at the target, this formation of pathfinder satellites will image the mission critical boulder to ensure the system design can support its removal. LKM will conduct a series of flybys prior to ARRM's rendezvous. LKMs stereoscopic cameras will provide detailed surveys of the boulder's terrain and environment to ensure ARRM can operate safely, reach the location and interface with the boulder. The LKM attitude control and cold gas propulsion system will enable formation maintenance maneuvers for global mapping of asteroid 2008 EV5 at an altitude of 100 km to a high-spatial resolution imaging altitude of 5 km.LKM will demonstrate formation flying in deep space and the reliability of stereoscopic cameras to precisely identify a specific target and provide physical characterization of an asteroid. An assessment of the off-the-shelf technology used at JPL will be provided also with technology readiness descriptions, mission architecture, cost analysis and future work required to make the proposed LKM mission a partner to ARRM.

Cultural Terrain - Mapping Out the Future

DTIC Science & Technology

2007-01-01

Quantico, Virginia 22134-5068 MASTER OF OPERATIONAL STUDIES TITLE: CULTURAL TERRAIN – MAPPING OUT THE FUTURE SUBMITTED IN PARTIAL...FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF OPERATIONAL STUDIES AUTHOR: MAJOR DANIEL A. SCHMITT, UNITED STATES MARINE CORPS...AGENCY. REFERENCES TO THIS STUDY SHOULD INCLUDE THE FOREGOING STATEMENT. QUOTATION FROM, ABSTRACTION FROM, OR REPRODUCTION OF ALL OR ANY PART OF

Improving Geologic Mapping of Mid-ocean Ridges by Integrating sonar and Visual Observations through Seafloor Classification by Machine-learning Systems

NASA Astrophysics Data System (ADS)

White, S. M.; McClinton, J. T.

2011-12-01

Beyond the ability of modern near-bottom sonar systems to deliver air-photo-like images of the seafloor to help guide fieldwork, there is a tremendous amount of information hidden within sonar data that is rarely exploited for geologic mapping. Seafloor texture, backscatter amplitude, seafloor slope and roughness data can provide clues about seafloor geology but not straightforward to interpret. We present techniques for seafloor classification in volcanic terrains that integrate the capability of high-resolution, near-bottom sonar instruments to cover extensive areas of seafloor with the ability of visual mapping to discriminate differences in volcanic terrain. These techniques are adapted from the standard practices of terrestrial remote-sensing for use in the deep seafloor volcanic environment. A combination of sonar backscatter and bathymetry is used to supplement the direct seafloor visual observations by geologists to make quasi-geologic thematic maps that are consistent, objective, and most importantly spatially complete. We have taken two approaches to producing thematic maps of the seafloor for the accurate mapping of fine-scale lava morphology (e.g. pillow, lobate and sheet lava) and for the differentiation of distinct seafloor terrain types on a larger scale (e.g. hummocky or smooth). Mapping lava morphology is most accurate using fuzzy logic capable of making inferences between similar morphotypes (e.g. pillow and lobate) and where high-resolution side-scan and bathymetry data coexist. We present examples of lava morphology maps from the Galápagos Spreading Center that show the results from several analyses using different types of input data. Lava morphology is an important source of information on volcanic emplacement and eruptive dynamics. Terrain modeling can be accomplished at any resolution level, depending on the desired use of the model. For volcanic processes, input data needs to be at the appropriate scale to resolve individual volcanic features on the seafloor (e.g. small haystacks and lava channels). We present examples from the East Pacific Rise, which shows that the number of volcanic terrains differs from the tectonic provinces defined by following the spreading axis. Our terrain modeling suggests that differences in ocean crust construction and evolution can be meaningfully identified and explored without a priori assumptions about the geologic processes in a given region.

An All Sky Instantaneous Shortwave Solar Radiation Model for Mountainous Terrain

NASA Astrophysics Data System (ADS)

Zhang, S.; Li, X.; She, J.

2017-12-01

In mountainous terrain, solar radiation shows high heterogeneity in space and time because of strong terrain shading effects and significant variability of cloud cover. While existing GIS-based solar radiation models simulate terrain shading effects with relatively high accuracy and models based on satellite datasets consider fine scale cloud attenuation processes, none of these models have considered the geometrical relationships between sun, cloud, and terrain, which are important over mountainous terrain. In this research we propose sky cloud maps to represent cloud distribution in a hemispherical sky using MODIS cloud products. By overlaying skyshed (visible area in the hemispherical sky derived from DEM), sky map, and sky cloud maps, we are able to consider both terrain shading effects and anisotropic cloud attenuation in modeling instantaneous direct and diffuse solar radiation in mountainous terrain. The model is evaluated with field observations from three automatic weather stations in the Tizinafu watershed in the Kunlun Mountains of northwestern China. Overall, under all sky conditions, the model overestimates instantaneous global solar radiation with a mean absolute relative difference (MARD) of 22%. The model is also evaluated under clear sky (clearness index of more than 0.75) and partly cloudy sky (clearness index between 0.35 and 0.75) conditions with MARDs of 5.98% and 23.65% respectively. The MARD for very cloudy sky (clearness index less than 0.35) is relatively high. But these days occur less than 1% of the time. The model is sensitive to DEM data error, algorithms used in delineating skyshed, and errors in MODIS atmosphere and cloud products. Our model provides a novel approach for solar radiation modeling in mountainous areas.

Improving depth maps of plants by using a set of five cameras

NASA Astrophysics Data System (ADS)

Kaczmarek, Adam L.

2015-03-01

Obtaining high-quality depth maps and disparity maps with the use of a stereo camera is a challenging task for some kinds of objects. The quality of these maps can be improved by taking advantage of a larger number of cameras. The research on the usage of a set of five cameras to obtain disparity maps is presented. The set consists of a central camera and four side cameras. An algorithm for making disparity maps called multiple similar areas (MSA) is introduced. The algorithm was specially designed for the set of five cameras. Experiments were performed with the MSA algorithm and the stereo matching algorithm based on the sum of sum of squared differences (sum of SSD, SSSD) measure. Moreover, the following measures were included in the experiments: sum of absolute differences (SAD), zero-mean SAD (ZSAD), zero-mean SSD (ZSSD), locally scaled SAD (LSAD), locally scaled SSD (LSSD), normalized cross correlation (NCC), and zero-mean NCC (ZNCC). Algorithms presented were applied to images of plants. Making depth maps of plants is difficult because parts of leaves are similar to each other. The potential usability of the described algorithms is especially high in agricultural applications such as robotic fruit harvesting.

DspaceOgreTerrain 3D Terrain Visualization Tool

NASA Technical Reports Server (NTRS)

Myint, Steven; Jain, Abhinandan; Pomerantz, Marc I.

2012-01-01

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.

Light Detection and Ranging-Based Terrain Navigation: A Concept Exploration

NASA Technical Reports Server (NTRS)

Campbell, Jacob; UijtdeHaag, Maarten; vanGraas, Frank; Young, Steve

2003-01-01

This paper discusses the use of Airborne Light Detection And Ranging (LiDAR) equipment for terrain navigation. Airborne LiDAR is a relatively new technology used primarily by the geo-spatial mapping community to produce highly accurate and dense terrain elevation maps. In this paper, the term LiDAR refers to a scanning laser ranger rigidly mounted to an aircraft, as opposed to an integrated sensor system that consists of a scanning laser ranger integrated with Global Positioning System (GPS) and Inertial Measurement Unit (IMU) data. Data from the laser range scanner and IMU will be integrated with a terrain database to estimate the aircraft position and data from the laser range scanner will be integrated with GPS to estimate the aircraft attitude. LiDAR data was collected using NASA Dryden's DC-8 flying laboratory in Reno, NV and was used to test the proposed terrain navigation system. The results of LiDAR-based terrain navigation shown in this paper indicate that airborne LiDAR is a viable technology enabler for fully autonomous aircraft navigation. The navigation performance is highly dependent on the quality of the terrain databases used for positioning and therefore high-resolution (2 m post-spacing) data was used as the terrain reference.

Spirit's Airbags Leave Trail

NASA Technical Reports Server (NTRS)

2004-01-01

The smooth surfaces of angular and rounded rocks seen in this image of the martian terrain may be the result of wind-polishing debris. The picture was taken by the panoramic camera on the Mars Exploration Rover Spirit.

Topography of Vesta Surface

NASA Image and Video Library

2011-08-26

This view of the topography of asteroid Vesta surface is composed of several images obtained with the framing camera on NASA Dawn spacecraft on August 6, 2011. The image mosaic is shown superimposed on a digital terrain model.

An X-Band Radar Terrain Feature Detection Method for Low-Altitude SVS Operations and Calibration Using LiDAR

NASA Technical Reports Server (NTRS)

Young, Steve; UijtdeHaag, Maarten; Campbell, Jacob

2004-01-01

To enable safe use of Synthetic Vision Systems at low altitudes, real-time range-to-terrain measurements may be required to ensure the integrity of terrain models stored in the system. This paper reviews and extends previous work describing the application of x-band radar to terrain model integrity monitoring. A method of terrain feature extraction and a transformation of the features to a common reference domain are proposed. Expected error distributions for the extracted features are required to establish appropriate thresholds whereby a consistency-checking function can trigger an alert. A calibration-based approach is presented that can be used to obtain these distributions. To verify the approach, NASA's DC-8 airborne science platform was used to collect data from two mapping sensors. An Airborne Laser Terrain Mapping (ALTM) sensor was installed in the cargo bay of the DC-8. After processing, the ALTM produced a reference terrain model with a vertical accuracy of less than one meter. Also installed was a commercial-off-the-shelf x-band radar in the nose radome of the DC-8. Although primarily designed to measure precipitation, the radar also provides estimates of terrain reflectivity at low altitudes. Using the ALTM data as the reference, errors in features extracted from the radar are estimated. A method to estimate errors in features extracted from the terrain model is also presented.

The Color of Pluto from New Horizons

NASA Astrophysics Data System (ADS)

Olkin, Catherine; Spencer, John R.; Grundy, William M.; Parker, Alex; Beyer, Ross A.; Reuter, Dennis; Schenk, Paul M.; Stern, S. Alan; Weaver, Harold A.; Young, Leslie; Ennico, Kimberly; Binzel, Richard P.; Buie, Marc W.; Cook, Jason C.; Cruikshank, Dale P.; Dalle Ore, Cristina M.; Earle, Alissa; Howett, Carly; Jennings, Donald E.; Singer, Kelsi N.; Linscott, Ivan; Lunsford, Allen; Protopapa, Silvia; Schmitt, Bernard; Weigle, Eddie; and the New Horizons Science Team

2017-10-01

The New Horizons flyby provided the first high-resolution color maps of Pluto. These maps show the color variegation across the surface from the very red terrain in the equatorial region, to the more neutral colors of the volatile ices in Sputnik Planitia, the blue terrain of east Tombaugh Regio and the yellow hue on Pluto's north pole. There are two distinct color mixing lines in the color-color diagrams derived from images of Pluto. Both mixing lines have an apparent starting point in common: the relatively neutral color volatile-ice covered terrain. One line extends to the dark red terrain exemplified by Cthulu Regio and the other extends to the yellow hue in the northern latitudes. The red color is consistent with a non-ice component on the surface and is consistent with tholins.

The Color of Pluto from New Horizons

NASA Astrophysics Data System (ADS)

Olkin, C.; Spencer, J. R.; Grundy, W. M.; Parker, A. H.; Beyer, R. A.; Reuter, D.; Schenk, P.; Stern, A.; Weaver, H. A., Jr.; Young, L. A.; Ennico Smith, K.

2017-12-01

The New Horizons flyby provided the first high-resolution color maps of Pluto. These maps show the color variegation across the surface from the very red terrain in the equatorial region, to the more neutral colors of the volatile ices in Sputnik Planitia, the blue terrain of east Tombaugh Regio and the yellow hue on Pluto's north pole. There are two distinct color mixing lines in the color-color diagrams derived from images of Pluto. Both mixing lines have an apparent starting point in common: the relatively neutral color volatile-ice covered terrain. One line extends to the dark red terrain exemplified by Cthulu Regio and the other extends to the yellow hue in the northern latitudes. The red color is consistent with a non-ice component on the surface and is consistent with tholins.

Lunar terrain mapping and relative-roughness analysis

USGS Publications Warehouse

Rowan, Lawrence C.; McCauley, John F.; Holm, Esther A.

1971-01-01

Terrain maps of the equatorial zone (long 70° E.-70° W. and lat 10° N-10° S.) were prepared at scales of 1:2,000,000 and 1:1,000,000 to classify lunar terrain with respect to roughness and to provide a basis for selecting sites for Surveyor and Apollo landings as well as for Ranger and Lunar Orbiter photographs. The techniques that were developed as a result of this effort can be applied to future planetary exploration. By using the best available earth-based observational data and photographs 1:1,000,000-scale and U.S. Geological Survey lunar geologic maps and U.S. Air Force Aeronautical Chart and Information Center LAC charts, lunar terrain was described by qualitative and quantitative methods and divided into four fundamental classes: maria, terrae, craters, and linear features. Some 35 subdivisions were defined and mapped throughout the equatorial zone, and, in addition, most of the map units were illustrated by photographs. The terrain types were analyzed quantitatively to characterize and order their relative-roughness characteristics. Approximately 150,000 east-west slope measurements made by a photometric technique (photoclinometry) in 51 sample areas indicate that algebraic slope-frequency distributions are Gaussian, and so arithmetic means and standard deviations accurately describe the distribution functions. The algebraic slope-component frequency distributions are particularly useful for rapidly determining relative roughness of terrain. The statistical parameters that best describe relative roughness are the absolute arithmetic mean, the algebraic standard deviation, and the percentage of slope reversal. Statistically derived relative-relief parameters are desirable supplementary measures of relative roughness in the terrae. Extrapolation of relative roughness for the maria was demonstrated using Ranger VII slope-component data and regional maria slope data, as well as the data reported here. It appears that, for some morphologically homogeneous mare areas, relative roughness can be extrapolated to the large scales from measurements at small scales.

VISUAL and SLOPE: perspective and quantitative representation of digital terrain models.

Treesearch

R.J. McGaughey; R.H. Twito

1988-01-01

Two computer programs to help timber-harvest planners evaluate terrain for logging operations are presented. The first program, VISUAL, produces three-dimensional perspectives of a digital terrain model. The second, SLOPE, produces map-scaled overlays delineating areas of equal slope, aspect, or elevation. Both programs help planners familiarize themselves with new...

Triton - False Color of Cantaloupe Terrain

NASA Image and Video Library

1996-09-26

Voyager violet, green, and ultraviolet images of Triton were map projected into cylindrical coordinates and combined to produce this false color terrain map. Several compositionally distinct terrain and geologic features are portrayed. At center is a gray blue unit referred to as 'cantaloupe' terrain because of its unusual topographic texture. The unit appears to predate other units to the left. Immediately adjacent to the cantaloupe terrain, is a smoother unit, represented by a reddish color, that has been dissected by a prominent fault system. This unit apparently overlies a much higher albedo material, seen farther left. A prominent angular albedo boundary separates relatively undisturbed smooth terrain from irregular patches which have been derived from breakup of the same material. Also visible at the far left are diffuse, elongated streaks, which seem to emanate from circular, often bright centered features. The parallel streaks may represent vented particulate materials blown in the same direction by winds in Triton's thin atmosphere. The Voyager Mission was conducted by JPL for NASA's Office of Space Science and Applications. http://photojournal.jpl.nasa.gov/catalog/PIA00060

Quantification of Plume-Soil Interaction and Excavation Due to the Sky Crane Descent Stage

NASA Technical Reports Server (NTRS)

Vizcaino, Jeffrey; Mehta, Manish

2015-01-01

The quantification of the particulate erosion that occurs as a result of a rocket exhaust plume impinging on soil during extraterrestrial landings is critical for future robotic and human lander mission design. The aerodynamic environment that results from the reflected plumes results in dust lifting, site alteration and saltation, all of which create a potentially erosive and contaminant heavy environment for the lander vehicle and any surrounding structures. The Mars Science Lab (MSL), weighing nearly one metric ton, required higher levels of thrust from its retro propulsive systems and an entirely new descent system to minimize these effects. In this work we seek to quantify plume soil interaction and its resultant soil erosion caused by the MSL's Sky Crane descent stage engines by performing three dimensional digital terrain and elevation mapping of the Curiosity rover's landing site. Analysis of plume soil interaction altitude and time was performed by detailed examination of the Mars Descent Imager (MARDI) still frames and reconstructed inertial measurement unit (IMU) sensor data. Results show initial plume soil interaction from the Sky Crane's eight engines began at ground elevations greater than 60 meters and more than 25 seconds before the rovers' touchdown event. During this time, viscous shear erosion (VSE) was dominant typically resulting in dusting of the surface with flow propagating nearly parallel to the surface. As the vehicle descended and decreased to four powered engines plume-plume and plume soil interaction increased the overall erosion rate at the surface. Visibility was greatly reduced at a height of roughly 20 meters above the surface and fell to zero ground visibility shortly after. The deployment phase of the Sky Crane descent stage hovering at nearly six meters above the surface showed the greatest amount of erosion with several large particles of soil being kicked up, recirculated, and impacting the bottom of the rover chassis. Image data obtained from MSL's navigation camera (NAVCAM) pairs on Sols 002, 003, and 016 were used to virtually recreate local surface topography and features around the rover by means of stereoscopic depth mapping. Images taken simultaneously by the left and right navigation cameras located on the rover's mast assembly spaced 42 centimeters were used to generate a three dimensional depth map from flat, two dimensional images of the same feature at slightly different angles. Image calibration with physical hardware on the rover and known terrain features were used to provide scaling information that accurately sizes features and regions of interest within the images. Digital terrain mapping analysis performed in this work describe the crater geometry (shape, radius, and depth), eroded volume, volumetric erosion rate, and estimated mass erosion rate of the Hepburn, Sleepy Dragon, Burnside, and Goulburn craters. Crater depths ranged from five to ten centimeters deep influencing an area as wide as two meters in some cases. The craters formed were highly asymmetrical and generally oblong primarily due to the underlying bedrock formations underneath the surface. Comparison with ground tests performed at the NASA AMES Planetary Aeolian Laboratory (PAL) by Mehta showed good agreement with volumetric erosion rates and crater sizes of large particle soil simulants, providing validation to Earth based ground tests of Martian regolith.

Geological Mapping of the Ac-H-5 Fejokoo Quadrangle of Ceres from NASA's Dawn Mission

NASA Astrophysics Data System (ADS)

Hughson, Kynan; Russell, Christopher; Williams, David; Buczkowski, Debra; Mest, Scott; Scully, Jennifer; Kneissl, Thomas; Ruesch, Ottaviano; Frigeri, Alessandro; Combe, Jean-Philippe; Jaumann, Ralf; Roatsch, Thomas; Preusker, Frank; Platz, Thomas; Nathues, Andreas; Hoffmann, Martin; Schaefer, Michael; Park, Ryan; Marchi, Simone; Raymond, Carol

2016-04-01

NASA's Dawn spacecraft arrived at Ceres on March 6, 2015, and has been studying the dwarf planet through a series of successively lower orbits, obtaining morphological & topographical image, mineralogical, elemental abundance, and gravity data. Ceres is the largest object in the asteroid belt with a mean diameter of ~950 km. The Dawn Science Team is conducting a geologic mapping campaign for Ceres similar to that done for the asteroid Vesta [1, 2], including production of a Survey- and High Altitude Mapping Orbit (HAMO)-based global map, and a series of 15 Low Altitude Mapping Orbit (LAMO)-based quadrangle maps. In this abstract we present the LAMO-based geologic map of the Ac-H-5 Fejokoo quadrangle (21-66 °N and 270-360 °E) and discuss its geologic evolution. At the time of this writing LAMO images (35 m/pixel) are just becoming available. Thus, our geologic maps are based on HAMO images (~140 m/pixel) and Survey (~400 m/pixel) digital terrain models (for topographic information) [3, 4]. Dawn Framing Camera (FC) color images are also used to provide context for map unit identification. The maps to be presented as posters will be updated from analyses of LAMO images (~35 m/pixel). The Fejokoo quadrangle hosts six primary geologic features: (1) the centrally located, ~80 km diameter, distinctly hexagonal impact crater Fejokoo; (2) Victa crater with its large exterior dark lobate flow feature, and interior lobate and furrowed deposits; (3) Abellio crater, which exhibits a well formed ejecta blanket and has an arcuately textured infilled floor whose morphology is similar to those of homologously sized craters on some of the icy Saturnian satellites [5]; (4) Cozobi crater, whose floor is filled with an unusually bulbous and smooth deposit, thin sheeted multi-lobed flow-like features that are reminiscent of fluidized ejecta as seen on Mars are also observed to be emanating outwards from the N and S rims of this crater [6]; (5) the peculiar Oxo crater on the eastern border whose strange bright ejecta and mysterious "missing block" are unlike anything else seen on Ceres; and (6) the numerous tholi that occupy the central region of the quadrangle. Based on our current geologic mapping of the Fejokoo quadrangle, we have developed the following preliminary geologic history: (I) The background cratered terrain was emplaced and represents the oldest geologic unit in the quadrangle, (II) the growth of tholi and emplacement of undegraded craters Takel, Cozobi, Abellio, Victa, Fejokoo, Dada, and Roskva happened subsequent to the development of the cratered terrain, and (III) most recently Oxo crater and its undisturbed ejecta was emplaced. Before EGU, we will: (i) explore the possibility that the Fejokoo tholi are intrusive structures, (ii) examine the different types of mass wasting in this quadrangle and their relationship to ground ice, and (iii) investigate the morphological and compositional nature of Oxo crater. References: [1] Williams et al. (2014) Icarus. [2] Yingst R.A. et al. (2014) PSS. [3] Roatsch et al. (2015) Planetary and Space Science. [4] Preusker F. et al. (2016) LPSC XXXXVII. [5] Schenk P. M. (1989) JGR. [6] Senft & Stewart (2008) Met. & Planet. Sci.

Opportunity Surroundings on 3,000th Sol, Vertical Projection

NASA Image and Video Library

2012-09-07

This 360-degree vertical projection was assembled from images taken by the navigation camera on NASA Mars Exporation Rover Opportunity shows terrain surrounding the position where the rover spent its 3,000th Martian day.

Opportunity Surroundings on 3,000th Sol, Polar Projection

NASA Image and Video Library

2012-09-07

This 360-degree polar projection was assembled from images taken by the navigation camera on NASA Mars Exporation Rover Opportunity shows terrain surrounding the position where the rover spent its 3,000th Martian day.

New formulation for interferometric synthetic aperture radar for terrain mapping

NASA Astrophysics Data System (ADS)

Jakowatz, Charles V., Jr.; Wahl, Daniel E.; Eichel, Paul H.; Thompson, Paul A.

1994-06-01

The subject of interferometric synthetic aperture radar (IFSAR) for high-accuracy terrain elevation mapping continues to gain importance in the arena of radar signal processing. Applications to problems in precision terrain-aided guidance and automatic target recognition, as well as a variety of civil applications, are being studied by a number of researchers. Not unlike many other areas of SAR processing, the subject of IFSAR can, at first glance, appear to be somewhat mysterious. In this paper we show how the mathematics of IFSAR for terrain elevation mapping using a pair of spotlight mode SAR collections can be derived in a very straightforward manner. Here, we employ an approach that relies entirely on Fourier transforms, and utilizes no reference to range equations or Doppler concepts. The result is a simplified explanation of the fundamentals of interferometry, including an easily-seen link between image domain phase difference and terrain elevation height. The derivation builds upon previous work by the authors in which a framework for spotlight mode SAR image formation based on an analogy to 3D computerized axial tomography (CAT) was developed. After outlining the major steps in the mathematics, we show how a computer simulator which utilizes 3D Fourier transforms can be constructed that demonstrates all of the major aspects of IFSAR from spotlight mode collections.

Toward autonomous driving: The CMU Navlab. I - Perception

NASA Technical Reports Server (NTRS)

Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

1991-01-01

The Navlab project, which seeks to build an autonomous robot that can operate in a realistic environment with bad weather, bad lighting, and bad or changing roads, is discussed. The perception techniques developed for the Navlab include road-following techniques using color classification and neural nets. These are discussed with reference to three road-following systems, SCARF, YARF, and ALVINN. Three-dimensional perception using three types of terrain representation (obstacle maps, terrain feature maps, and high-resolution maps) is examined. It is noted that perception continues to be an obstacle in developing autonomous vehicles.

Investigating Terrain Effects on Nearshore Cloud Evolution in Deepwave through Time-Lapse Photogrammetry

NASA Astrophysics Data System (ADS)

Osborne, T. C.; Billings, B. J.

2014-12-01

Stereo images of cloud patterns and nearshore waves upstream of the Southern Alps during the DEEPWAVE field campaign are presented through photogrammetric analysis. The photos highlighted in this case were taken in the afternoon of Friday, 13 June 2014. These photos were chosen because they may allow for focused analysis of terrain effects on cloud evolution. Stratocumulus and other cumuliform, as well as cirrus clouds were captured as the sun set over the Tasman Sea, one of the South Pacific Ocean's marginal seas. Breaks in the thin band of stratocumulus along the shoreline, as well as the total time for cloud layer dissipation are also of interest. A possible barrier jet causing the southward motion of the stratocumulus layer is also investigated. Views look northwest from Serpentine Road in Kumara Junction, South Island, New Zealand. An Integrated Sounding System (ISS) located at the Hokitika Airport was the primary source of vertical profiles. The upper air sounding closest to the shoot time and location, plotted from Hokitika's 11:05 UTC upsonde data, shows 10 mph NE winds near the surface. Images were taken on days with research flights over New Zealand from 2 June to 23 June 2014 to match DEEPWAVE objectives. On the night of 13 June 2014, NSF/NCAR's HIAPER GV research aircraft completed a flight from Christchurch over the South Island. This flight became known as Intensive Observing Period 3 (IOP 3) Sensitivity Flight. Methods applied in the Terrain-Induced Rotor Experiment (T-REX) by Grubišić and Grubišić (2007) were closely followed while capturing stereo photographic images. Two identical cameras were positioned with a separation baseline near 270 meters. Each camera was tilted upward approximately seven degrees and carefully positioned to capture parallel fields of view of the site. Developing clouds were captured using synchronized camera timers on a five second interval. Ultimately, cloud locations and measurements can be determined using the recorded GPS locations of the cameras. The Camera Calibration Toolbox available for MATLAB was used in order to perform these elaborate triangulation calculations.

Geologic bench marks by terrestrial photography

USGS Publications Warehouse

Malde, Harold E.

1973-01-01

A photograph made with a level camera, if taken at a known height above a permanent mark on the ground, can be later repeated with exactness for measurement of changes in terrain. Such a photograph is one of several means for establishing a geologic bench mark and is especially useful for monitoring the subtle qualities of a landscape that are otherwise hard to map and describe, including the effects of man's use. Moreover, the geometry of such a photograph provides the same angular measurements between objects as can be made with a transit. A measurement of distance on a single photograph, however, requires control points. These can be surveyed at any convenient time, not necessarily when the initial photograph is made. Distances can also be determined by simple stereophotography from a base line of suitable length.

Curiosity Traverse into Different Terrain

NASA Image and Video Library

2013-01-15

This image maps the traverse of NASA Mars rover Curiosity from Bradbury Landing to Yellowknife Bay, with an inset documenting a change in the ground thermal properties with arrival at a different type of terrain.

An in-depth study of Marcia Crater, Vesta

NASA Astrophysics Data System (ADS)

Hiesinger, Harald; Ruesch, Ottaviano; Williams, David A.; Nathues, Andreas; Prettyman, Thomas H.; Tosi, Frederico; De Sanctis, M. Christina; Scully, Jennifer E. C.; Schenk, Paul M.; Aileen Yingst, R.; Denevi, Bret W.; Jaumann, Ralf; Raymond, Carol A.; Russell, Chris T.

2014-05-01

After visiting the second most massive asteroid Vesta from July 2011 to September 2012, the Dawn spacecraft is now on its way to asteroid Ceres. Dawn observed Vesta with three instruments: the German Framing Camera (FC), the Italian Visible and InfraRed mapping spectrometer (VIR), and the American Gamma Ray and Neutron Detector (GRaND) [1]. Marcia crater (190°E, 10°N; 68 x 58 km) is the largest of three adjacent impact structures: Marcia (youngest), Calpurnia, and Minucia (oldest). It is the largest well-preserved post-Rheasilvia impact crater, shows a complex geology [2], is young [2], exhibits evidence for gully-like mass wasting [3], contains the largest location of pitted terrain [4], has smooth impact melt ponds [5], shows enhanced spectral pyroxene signatures on its inner walls [2], and has low abundances of OH and H in comparison to the surrounding low-albedo terrain [6, 7]. Geophysically, the broad region of Marcia and Calpurnia craters is characterized by a higher Bouguer gravity, indicating denser material [9]. Williams et al. [2] have produced a detailed geologic map of Marcia crater and the surrounding terrain. They identified several units within Marcia crater, including bright crater material, pitted terrain, and smooth material. Units outside Marcia, include undivided crater ejecta material, bright lobate material, dark lobate material, and dark crater ray material [2]. Because of its extensive ejecta and fresh appearance, the Marcia impact defines a major stratigraphic event, postdating the Rheasilvia impact [2]. However, the exact age of Marcia crater is still under debate. Compositionally, Marcia crater is characterized by higher iron abundances, which were interpreted as more basaltic-eucrite-rich materials suggesting that this region has not been blanketed by diogenitic materials from large impact events [10, 11]. Using FC data, [13] identified "gray material" associated with the ejecta blanket of Marcia crater. This material is characterized by a 0.75-mm reflectance of ~15%, a shallow visible slope, and a weak R(0.75 µm)/R(0.92 µm) ratio [12], which is still high compared to immediately adjacent terrains. The most prominent thermal feature in Marcia is the pitted terrain on its floor [8]. Temperatures of the pitted floor of Marcia are significantly lower than in the surrounding terrains, when observed under similar solar illumination. Denevi et al. [4] argued that the morphology and geologic setting are consistent with rapid degassing of volatile-bearing materials following an impact, which would lead to an increased local density and/or a higher thermal conductivity [8]. References: [1] Russell et al. (2007), Earth Moon Planets 101; [2] Williams et al. (2014), submitted to Icarus; [3] Scully et al. (2013), LPSC 45; [4] Denevi et al. (2012), Science 338; [5] Williams, D.A., et al. (2013) PSS, in press, j.pss.2013.06.017 [6] De Sanctis et al. (2012b) Astrophys. J. Lett. 758; [7] Prettyman et al. (2012), Science 338; [8] Tosi et al. (2014), submitted to Icarus; [9] Konopliv et al. (2013) Icarus, in press; [10] Yamashita et al. (2013), Met. Planet. Sci. 48; [11] Prettyman et al. (2013), Met. Planet. Sci. 48; [12] Reddy et al. (2012), Science 336

Mapping the Oman Ophiolite using TM data

NASA Technical Reports Server (NTRS)

Abrams, Michael

1987-01-01

Ophiolite terrains, considered to be the onland occurrences of oceanic crust, host a number of types of mineral deposits: volcanogenic massive sulfides, podiform chromite, and asbestos. Thematic Mapper data for the Semail Ophiolite in Oman were used to separate and map ultramafic lithologies hosting these deposits, including identification of the components of the extrusive volcanic sequence, mapping of serpentinization due to various tectonic processes, and direct identification of gossans. Thematic Mapper data were found to be extremely effective for mapping in this terrain due to the excellent spatial resolution and the presence of spectral bands which allow separation of the pertinent mineralogically caused spectral features associated with the rock types of interest.

The North America tapestry of time and terrain

USGS Publications Warehouse

Barton, Kate E.; Howell, David G.; Vigil, Jose F.

2003-01-01

The North America Tapestry of Time and Terrain (1:8,000,000 scale) is a product of the US Geological Survey in the I-map series (I-2781). This map was prepared in collaboration with the Geological Survey of Canada and the Mexican Consejo Recursos de Minerales. This cartographic Tapestry is woven from a geologic map and a shaded relief image. This digital combination reveals the geologic history of North America through the interrelation of rock type, topography and time. Regional surface processes as well as continent-scale tectonic events are exposed in the three dimensions of space and the fourth dimension, geologic time. The large map shows the varying age of bedrock underlying North America, while four smaller maps show the distribution of four principal types of rock: sedimentary, volcanic, plutonic and metamorphic.This map expands the original concept of the 2000 Tapestry of Time and Terrain, by José F. Vigil, Richard J. Pike and David G. Howell, which covered the conterminous United States. The U.S. Tapestry poster and website have been popular in classrooms, homes, and even the Google office building, and we anticipate the North America Tapestry will have a similarly wide appeal, and to a larger audience.

Eastern Siberia terrain intelligence

USGS Publications Warehouse

,

1942-01-01

The following folio of terrain intelligence maps, charts and explanatory tables represent an attempt to bring together available data on natural physical conditions such as will affect military operations in Eastern Siberia. The area covered is the easternmost section of the U.S.S.R.; that is the area east of the Yenisei River. Each map and accompanying table is devoted· to a specialized set of problems; together they cover such subjects as geology, construction materials, mineral fuels, terrain, water supply, rivers and climate. The data is somewhat generalized due to the scale of treatment as well as to the scarcity of basic data. Each of the maps are rated as to reliability according to the reliability scale on the following page. Considerable of the data shown is of an interpretative nature, although precise data from literature was used wherever possible. The maps and tables were compiled  by a special group from the United States Geological Survey in cooperation with the Intelligence Branch of the Office, Chief of Engineers, War Department.

The Cyber War: Maintaining and Controlling the Key Cyber Terrain of the Cyberspace Domain

DTIC Science & Technology

2016-06-26

solution strategy to assess options that will enable the commander to realize the Air Force’s cyber mission. Recommendations will be made that will...will present a solution to assist the JFC in achieving cyberspace dominance. Background In the modern world of advanced technology, control of...the solutions are: 1) timely identification of key cyber terrain, 2) accurate mapping of the cyber terrain, 3) defense of key cyber terrain, and 4

The HRSC Experiment on Mars Express: First Imaging Results from the Commissioning Phase

NASA Astrophysics Data System (ADS)

Oberst, J.; Neukum, G.; Hoffmann, H.; Jaumann, R.; Hauber, E.; Albertz, J.; McCord, T. B.; Markiewicz, W. J.

2004-12-01

The ESA Mars Express spacecraft was launched from Baikonur on June 2, 2003, entered Mars orbit on December 25, 2003, and reached the nominal mapping orbit on January 28, 2004. Observing conditions were favorable early on for the HRSC (High Resolution Stereo Camera), designed for the mapping of the Martian surface in 3-D. The HRSC is a pushbroom scanner with 9 CCD line detectors mounted in parallel and perpendicular to the direction of flight on the focal plane. The camera can obtain images at high resolution (10 m/pix), in triple stereo (20 m/pix), in four colors, and at five different phase angles near-simultaneously. An additional Super-Resolution Channel (SRC) yields nested-in images at 2.3 m/pix for detailed photogeologic studies. Even for nominal spacecraft trajectory and camera pointing data from the commissioning phase, solid stereo image reconstructions are feasible. More yet, the three-line stereo data allow us to identify and correct errors in navigation data. We find that > 99% of the stereo rays intersect within a sphere of radius < 20m after orbit and pointing data correction. From the HRSC images we have produced Digital Terrain Models (DTMs) with pixel sizes of 200 m, some of them better. HRSC stereo models and data obtained by the MOLA (Mars Orbiting Laser Altimeter) show good qualitative agreement. Differences in absolute elevations are within 50 m, but may reach several 100 m in lateral positioning (mostly in the spacecraft along-track direction). After correction of these offsets, the HRSC topographic data conveniently fill the gaps between the MOLA tracks and reveal hitherto unrecognized morphologic detail. At the time of writing, the HRSC has covered approx. 22.5 million square kilometers of the Martian surface. In addition, data from 5 Phobos flybys from May through August 2004 were obtained. The HRSC is beginning to make major contributions to geoscience, atmospheric science, photogrammetry, and cartography of Mars (papers submitted to Nature).

Image-based terrain modeling with thematic mapper applied to resolving the limit of Holocene Lake expansion in the Great Salt Lake Desert, Utah, part 1

NASA Technical Reports Server (NTRS)

Merola, John A.

1989-01-01

The LANDSAT Thematic Mapper (TM) scanner records reflected solar energy from the earth's surface in six wavelength regions, or bands, and one band that records emitted energy in the thermal region, giving a total of seven bands. Useful research was extracted about terrain morphometry from remote sensing measurements and this information is used in an image-based terrain model for selected coastal geomorphic features in the Great Salt Lake Desert (GSLD). Technical developments include the incorporation of Aerial Profiling of Terrain System (APTS) data in satellite image analysis, and the production and use of 3-D surface plots of TM reflectance data. Also included in the technical developments is the analysis of the ground control point spatial distribution and its affects on geometric correction, and the terrain mapping procedure; using satellite data in a way that eliminates the need to degrade the data by resampling. The most common approach for terrain mapping with multispectral scanner data includes the techniques of pattern recognition and image classification, as opposed to direct measurement of radiance for identification of terrain features. The research approach in this investigation was based on an understanding of the characteristics of reflected light resulting from the variations in moisture and geometry related to terrain as described by the physical laws of radiative transfer. The image-based terrain model provides quantitative information about the terrain morphometry based on the physical relationship between TM data, the physical character of the GSLD, and the APTS measurements.

Evaluating terrain based criteria for snow avalanche exposure ratings using GIS

NASA Astrophysics Data System (ADS)

Delparte, Donna; Jamieson, Bruce; Waters, Nigel

2010-05-01

Snow avalanche terrain in backcountry regions of Canada is increasingly being assessed based upon the Avalanche Terrain Exposure Scale (ATES). ATES is a terrain based classification introduced in 2004 by Parks Canada to identify "simple", "challenging" and "complex" backcountry areas. The ATES rating system has been applied to well over 200 backcountry routes, has been used in guidebooks, trailhead signs and maps and is part of the trip planning component of the AVALUATOR™, a simple decision-support tool for backcountry users. Geographic Information Systems (GIS) offers a means to model and visualize terrain based criteria through the use of digital elevation model (DEM) and land cover data. Primary topographic variables such as slope, aspect and curvature are easily derived from a DEM and are compatible with the equivalent evaluation criteria in ATES. Other components of the ATES classification are difficult to extract from a DEM as they are not strictly terrain based. An overview is provided of the terrain variables that can be generated from DEM and land cover data; criteria from ATES which are not clearly terrain based are identified for further study or revision. The second component of this investigation was the development of an algorithm for inputting suitable ATES criteria into a GIS, thereby mimicking the process avalanche experts use when applying the ATES classification to snow avalanche terrain. GIS based classifications were compared to existing expert assessments for validity. The advantage of automating the ATES classification process through GIS is to assist avalanche experts with categorizing and mapping remote backcountry terrain.

Mount Sharp Panorama in White-Balanced Colors

NASA Image and Video Library

2013-03-15

This mosaic of images from the Mast Camera Mastcam on NASA Mars rover Curiosity shows Mount Sharp in a white-balanced color adjustment that makes the sky look overly blue but shows the terrain as if under Earth-like lighting.

Opportunity Surroundings After Sol 2363 Drive

NASA Image and Video Library

2010-09-29

This mosaic of images from the navigation camera on NASA Mars Exploration Rover Opportunity shows surroundings of the rover location following a drive on Sept. 16, 2010. The terrain includes light-toned bedrock and darker ripples of wind-blown sand.

Geological Mapping of the Ac-H-3 Dantu Quadrangle of Ceres from NASA's Dawn Mission.

NASA Astrophysics Data System (ADS)

Kneissl, Thomas; Schmedemann, Nico; Neesemann, Adrian; Williams, David A.; Crown, David A.; Mest, Scott C.; Buczkowski, Debra L.; Scully, Jennifer E. C.; Frigeri, Allessandro; Ruesch, Ottaviano; Hiesinger, Harald; Walter, Sebastian H. G.; Jaumann, Ralf; Roatsch, Thomas; Preusker, Frank; Kersten, Elke; Naß, Andrea; Nathues, Andreas; Platz, Thomas; Russell, Chistopher T.

2016-04-01

The Dawn Science Team is conducting a geologic mapping campaign for Ceres similar to that done for Vesta [1,2], including production of a Survey- and High Altitude Mapping Orbit (HAMO)-based global map and a series of 15 Low Altitude Mapping Orbit (LAMO)-based quadrangle maps. In this abstract we discuss the geologic evolution of the Ac-H-3 Dantu Quadrangle. The current map is based on a Framing Camera (FC) clear-filter image mosaic from HAMO data (~140 m/px) as well as a digital terrain model (DTM) derived from imagery of the Survey phase [3]. Albedo variations were identified and mapped using a mosaic of photometrically corrected HAMO images provided by DLR. FC color images provided further context for map unit identification. LAMO images (35m/pixel), which have just become available at the time of writing, will be used to update the map to be presented as a poster. The quadrangle is located between 21-66°N and 90-180°E in a large-scale depression north of the impact basin Kerwan. The northern and southeastern parts of the quadrangle are characterized by cratered terrain while the south and southwest are dominated by the partially smooth ejecta blankets of craters Dantu and Gaue. East-west oriented pit/crater chains in the southern half of the quadrangle might be related to tectonic processes [4,5]. Dantu crater (d=~126 km) is a complex impact crater showing slump terraces and a partially smooth crater floor with concentric and radial fractures. Furthermore, Dantu shows a central pit structure with pitted terrain on its floor as well as several bright spots in the interior and exterior of the crater. High-resolution measurements of crater size-frequency distributions (CSFDs) superposed on Dantu indicate a formation/modification age of ~200 - 700 Ma. Most of the ejecta appear to be relatively bright and correspond to parts of the #2 high albedo region observed with the Hubble Space Telescope [6]. However, the southwestern portion of the ejecta blanket is characterized by relatively dark ejecta material. The albedo variations and differences in color data indicate materials of different compositions in the subsurface. Interestingly, Dantu is located in a longitude range where the Herschel space telescope might have observed the release of water vapor [7]. In the course of the mission, analyses of LAMO imagery as well as VIR spectral data will help to identify potential water sources, constrain the compositional variations, and the overall geologic history of the Dantu crater region. Further CSFD measurements we will help to determine the formation ages of other impact structures in the quadrangle. Acknowledgements: We acknowledge the support of M. Hoffmann, M. Schaefer, M.C. De Sanctis, C.A. Raymond, and the Dawn Instrument, Operations, and Science Teams. This work is partly supported by the German Space Agency (DLR), grant 50 OW 1101. References: [1] Williams D.A. et al. (2014) Icarus, 244, 1-12. [2] Yingst R.A. et al. (2014) PSS, 103, 2-23. [3] Preusker, F. et al. (2016), LPSC abstract. [4] Scully, J.E.C. et al. (2016), this meeting. [5] Buczkowski D. L. et al. (2015), AGU abstract #P44B-05. [6] Li, J-Y. et al. (2006), Icarus, 182, 143-160. [7] Küppers, M., et al. (2014), Nature, v. 505, 525-527.

Results of field testing with the FightSight infrared-based projectile tracking and weapon-fire characterization technology

NASA Astrophysics Data System (ADS)

Snarski, Steve; Menozzi, Alberico; Sherrill, Todd; Volpe, Chris; Wille, Mark

2010-04-01

This paper describes experimental results from recent live-fire data collects that demonstrate the capability of a prototype system for projectile detection and tracking. This system, which is being developed at Applied Research Associates, Inc., under the FightSight program, consists of a high-speed thermal camera and sophisticated image processing algorithms to detect and track projectiles. The FightSight operational vision is automated situational intelligence to detect, track, and graphically map large-scale firefights and individual shooting events onto command and control (C2) systems in real time (shot location and direction, weapon ID, movements and trends). Gaining information on enemy-fire trajectories allows educated inferences on the enemy's intent, disposition, and strength. Our prototype projectile detection and tracking system has been tested at the Joint Readiness Training Center (Ft Polk, LA) during live-fire convoy and mortar registration exercises, in the summer of 2009. It was also tested during staged military-operations- on-urban-terrain (MOUT) firefight events at Aberdeen Test Center (Aberdeen, MD) under the Hostile Fire Defeat Army Technology Objective midterm experiment, also in the summer of 2009, where we introduced fusion with acoustic and EO sensors to provide 3D localization and near-real time display of firing events. Results are presented in this paper that demonstrate effective and accurate detection and localization of weapon fire (5.56mm, 7.62mm, .50cal, 81/120mm mortars, 40mm) in diverse and challenging environments (dust, heat, day and night, rain, arid open terrain, urban clutter). FightSight's operational capabilities demonstrated under these live-fire data collects can support closecombat scenarios. As development continues, FightSight will be able to feed C2 systems with a symbolic map of enemy actions.

The Global Color of Pluto from New Horizons

NASA Astrophysics Data System (ADS)

Olkin, Catherine B.; Spencer, John R.; Grundy, William M.; Parker, Alex H.; Beyer, Ross A.; Schenk, Paul M.; Howett, Carly J. A.; Stern, S. Alan; Reuter, Dennis C.; Weaver, Harold A.; Young, Leslie A.; Ennico, Kimberly; Binzel, Richard P.; Buie, Marc W.; Cook, Jason C.; Cruikshank, Dale P.; Dalle Ore, Cristina M.; Earle, Alissa M.; Jennings, Donald E.; Singer, Kelsi N.; Linscott, Ivan E.; Lunsford, Allen W.; Protopapa, Silvia; Schmitt, Bernard; Weigle, Eddie; the New Horizons Science Team

2017-12-01

The New Horizons flyby provided the first high-resolution color maps of Pluto. We present here, for the first time, an analysis of the color of the entire sunlit surface of Pluto and the first quantitative analysis of color and elevation on the encounter hemisphere. These maps show the color variation across the surface from the very red terrain in the equatorial region, to the more neutral colors of the volatile ices in Sputnik Planitia, the blue terrain of East Tombaugh Regio, and the yellow hue on Pluto’s North Pole. There are two distinct color mixing lines in the color-color diagrams derived from images of Pluto. Both mixing lines have an apparent starting point in common: the relatively neutral-color volatile-ice covered terrain. One line extends to the dark red terrain exemplified by Cthulhu Regio and the other extends to the yellow hue in the northern latitudes. There is a latitudinal dependence of the predominant color mixing line with the most red terrain located near the equator, less red distributed at mid-latitudes and more neutral terrain at the North Pole. This is consistent with the seasonal cycle controlling the distribution of colors on Pluto. Additionally, the red color is consistent with tholins. The yellow terrain (in the false color images) located at the northern latitudes occurs at higher elevations.

Mapping snow depth in alpine terrain with remotely piloted aerial systems and structure-from-motion photogrammetry - first results from a pilot study

NASA Astrophysics Data System (ADS)

Adams, Marc; Fromm, Reinhard; Bühler, Yves; Bösch, Ruedi; Ginzler, Christian

2016-04-01

Detailed information on the spatio-temporal distribution of seasonal snow in the alpine terrain plays a major role for the hydrological cycle, natural hazard management, flora and fauna, as well as tourism. Current methods are mostly only valid on a regional scale or require a trade-off between the data's availability, cost and resolution. During a one-year pilot study, we investigated the potential of remotely piloted aerial systems (RPAS) and structure-from-motion photogrammetry for snow depth mapping. We employed multi-copter and fixed-wing RPAS, equipped with different low-cost, off-the shelf sensors, at four test sites in Austria and Switzerland. Over 30 flights were performed during the winter 2014/15, where different camera settings, filters and lenses, as well as data collection routines were tested. Orthophotos and digital surface models (DSM) where calculated from the imagery using structure-from-motion photogrammetry software. Snow height was derived by subtracting snow-free from snow-covered DSMs. The RPAS-results were validated against data collected using a variety of well-established remote sensing (i.e. terrestrial laser scanning, large frame aerial sensors) and in-situ measurement techniques. The results show, that RPAS i) are able to map snow depth within accuracies of 0.07-0.15 m root mean square error (RMSE), when compared to traditional in-situ data; ii) can be operated at lower cost, easier repeatability, less operational constraints and higher GSD than large frame aerial sensors on-board manned aircraft, while achieving significantly higher accuracies; iii) are able to acquire meaningful data even under harsh environmental conditions above 2000 m a.s.l. (turbulence, low temperature and high irradiance, low air density). While providing a first prove-of-concept, the study also showed future challenges and limitations of RPAS-based snow depth mapping, including a high dependency on correct co-registration of snow-free and snow-covered height measurements, as well as a significant impact of the underlying vegetation and illumination of the snow surface on the fidelity of the results.

Preliminary Geological Map of the Ac-H-8 Nawish Quadrangle of Ceres: An Integrated Mapping Study Using Dawn Spacecraft Data

NASA Astrophysics Data System (ADS)

Frigeri, A.; De Sanctis, M. C.; Carrorro, F. G.; Ammannito, E.; Williams, D. A.; Mest, S. C.; Buczkowski, D.; Preusker, F.; Jaumann, R.; Roatsch, T.; Scully, J. E. C.; Raymond, C. A.; Russell, C. T.

2015-12-01

Herein we present the geologic mapping of the Ac-H-8 Nawish Quadrangle of dwarf planet Ceres, produced on the basis of the Dawn spacecraft data. The Ac-H-08 Nawish quadrangle is located between -22°S and 22°N and between 144°E and 216°E. At the north-east border, a polygonal, 75km-wide crater named Nawish gives the name to the whole quadrangle. An unamed, partially degraded, 100km-diameter crater is evident in the lower central sector of the quadrangle. Bright materials have been mapped and are associated with craters. For example, bright materials occur in the central peak region of Nawish crater and in the ejecta of an unnamed crater, which is located in the nearby quadrangle Ac-H-09. The topography of the area obtained from stereo-processing of imagery shows an highland in the middle of the quadrangle. Topography is lower in the northern and southern borders, with a altitude span of about 9500 meters. At the time of this writing geologic mapping was performed on Framing Camera (FC) mosaics from the Approach (1.3 km/px) and Survey (415 m/px) orbits, including grayscale and color images and digital terrain models derived from stereo images. In Fall 2015 images from the High Altitude Mapping Orbit (140 m/px) will be used to refine the mapping, followed by Low Altitude Mapping Orbit (35 m/px) images in January 2016. Support of the Dawn Instrument, Operations, and Science Teams is acknowledged. This work is supported by grants from NASA, and from the German and Italian Space Agencies.

Geologic map and structural analysis of the Victoria quadrangle (H2) of Mercury based on NASA MESSENGER images

NASA Astrophysics Data System (ADS)

Galluzzi, V.; Di Achille, G.; Ferranti, L.; Rothery, D. A.; Palumbo, P.

The first stratigraphic and geologic study of Mercury was released by Trask & Guest (1975) followed by Spudis & Guest (1988, and references therein), whose work was based on the images taken by Mariner 10 covering 42% of the total surface of Mercury. The planet has been officially divided into fifteen quadrangles: 2 polar, 5 equatorial and 8 at midlatitudes. Quadrangle H2 (= Hermes sheet n.2), named ``Victoria'' (20oN - 65oN Lon.; 270oE - 0o Lat.), was partially mapped by McGill & King (1983), though a wide area (˜64%) remained unmapped due to the lack of imagery. Following the terrain units recognized and described by the above authors, we have produced a geologic map of the entire quadrangle using MESSENGER (MErcury Surface, Space ENvironment, GEochemistry and Ranging) images. The images taken by the Mercury Dual Imaging System (MDIS) Wide Angle Camera (WAC) and Narrow Angle Camera (NAC) allowed us to map geologic and tectonic features in much greater detail than the previously published map (mapping scale range between 1:300k and 1:600k). We classified craters larger than 20 km using three relative age classes, which are a simplification of the past five degradation classes defined by McCauley et al. (1981). Victoria quadrangle is characterized by a localized N-S thrust array constituted by Victoria Rupes, Endeavour Rupes and Antoniadi Dorsum to the East and by a more diffuse system of NE-SW oriented fault arrays to the West: the two systems seem to be separated by a tectonic bulge. The Victoria-Endeavour-Antoniadi system has been interpreted as a fold-and-thrust belt by Byrne et al. (2014) and a previous study made on craters cross-cut by its thrusts reveals fault dips of 15-20o and a near dip slip motion (Galluzzi et al., 2015). This geologic map has the aim to build a regional model of its structural framework. Deciphering the geological setting of this quadrangle will bring important insights for understanding the tectonic evolution of the whole planet. Moreover, the results obtained with this study can help in the future targeting choices of the BepiColombo SIMBIOSYS instruments.

Localization and Mapping Using a Non-Central Catadioptric Camera System

NASA Astrophysics Data System (ADS)

Khurana, M.; Armenakis, C.

2018-05-01

This work details the development of an indoor navigation and mapping system using a non-central catadioptric omnidirectional camera and its implementation for mobile applications. Omnidirectional catadioptric cameras find their use in navigation and mapping of robotic platforms, owing to their wide field of view. Having a wider field of view, or rather a potential 360° field of view, allows the system to "see and move" more freely in the navigation space. A catadioptric camera system is a low cost system which consists of a mirror and a camera. Any perspective camera can be used. A platform was constructed in order to combine the mirror and a camera to build a catadioptric system. A calibration method was developed in order to obtain the relative position and orientation between the two components so that they can be considered as one monolithic system. The mathematical model for localizing the system was determined using conditions based on the reflective properties of the mirror. The obtained platform positions were then used to map the environment using epipolar geometry. Experiments were performed to test the mathematical models and the achieved location and mapping accuracies of the system. An iterative process of positioning and mapping was applied to determine object coordinates of an indoor environment while navigating the mobile platform. Camera localization and 3D coordinates of object points obtained decimetre level accuracies.

The geometric signature: Quantifying landslide-terrain types from digital elevation models

USGS Publications Warehouse

Pike, R.J.

1988-01-01

Topography of various types and scales can be fingerprinted by computer analysis of altitude matrices (digital elevation models, or DEMs). The critical analytic tool is the geometric signature, a set of measures that describes topographic form well enough to distinguish among geomorphically disparate landscapes. Different surficial processes create topography with diagnostic forms that are recognizable in the field. The geometric signature abstracts those forms from contour maps or their DEMs and expresses them numerically. This multivariate characterization enables once-in-tractable problems to be addressed. The measures that constitute a geometric signature express different but complementary attributes of topographic form. Most parameters used here are statistical estimates of central tendency and dispersion for five major categories of terrain geometry; altitude, altitude variance spectrum, slope between slope reversals, and slope and its curvature at fixed slope lengths. As an experimental application of geometric signatures, two mapped terrain types associated with different processes of shallow landsliding in Marin County, California, were distinguished consistently by a 17-variable description of topography from 21??21 DEMs (30-m grid spacing). The small matrix is a statistical window that can be used to scan large DEMs by computer, thus potentially automating the mapping of contrasting terrain types. The two types in Marin County host either (1) slow slides: earth flows and slump-earth flows, or (2) rapid flows: debris avalanches and debris flows. The signature approach should adapt to terrain taxonomy and mapping in other areas, where conditions differ from those in Central California. ?? 1988 International Association for Mathematical Geology.

Estimating Slopes In Images Of Terrain By Use Of BRDF

NASA Technical Reports Server (NTRS)

Scholl, Marija S.

1995-01-01

Proposed method of estimating slopes of terrain features based on use of bidirectional reflectivity distribution function (BRDF) in analyzing aerial photographs, satellite video images, or other images produced by remote sensors. Estimated slopes integrated along horizontal coordinates to obtain estimated heights; generating three-dimensional terrain maps. Method does not require coregistration of terrain features in pairs of images acquired from slightly different perspectives nor requires Sun or other source of illumination to be low in sky over terrain of interest. On contrary, best when Sun is high. Works at almost all combinations of illumination and viewing angles.

GEMINI-TITAN (GT)-4 - EARTH-SKY VIEW

NASA Image and Video Library

1965-06-01

S65-34661 (3-7 June 1965) --- Among the photographs of Earth's terrain taken from the Gemini-4 spacecraft during its orbital mission was this view of the southeastern tip of the Arabian Peninsula with the Gulf of Oman at upper right. Seif dunes (sand) at lower left. This picture was taken with a modified 70mm Hasselblad camera, using Eastman color film, ASA 64 at a setting of 250th of a second at f/11. Dr. Paul Lowman Jr., NASA geologist, was in charge of the Synoptic Terrain Photography.

Arid land monitoring using Landsat albedo difference images

USGS Publications Warehouse

Robinove, Charles J.; Chavez, Pat S.; Gehring, Dale G.; Holmgren, Ralph

1981-01-01

The Landsat albedo, or percentage of incoming radiation reflected from the ground in the wavelength range of 0.5 [mu]m to 1.1 [mu]m, is calculated from an equation using the Landsat digital brightness values and solar irradiance values, and correcting for atmospheric scattering, multispectral scanner calibration, and sun angle. The albedo calculated for each pixel is used to create an albedo image, whose grey scale is proportional to the albedo. Differencing sequential registered images and mapping selected values of the difference is used to create quantitative maps of increased or decreased albedo values of the terrain. All maps and other output products are in black and white rather than color, thus making the method quite economical. Decreases of albedo in arid regions may indicate improvement of land quality; increases may indicate degradation. Tests of the albedo difference mapping method in the Desert Experimental Range in southwestern Utah (a cold desert with little long-term terrain change) for a four-year period show that mapped changes can be correlated with erosion from flash floods, increased or decreased soil moisture, and increases or decreases in the density of desert vegetation, both perennial shrubs and annual plants. All terrain changes identified in this test were related to variations in precipitation. Although further tests of this method in hot deserts showing severe "desertification" are needed, the method is nevertheless recommended for experimental use in monitoring terrain change in other arid and semiarid regions of the world.

Method and system for progressive mesh storage and reconstruction using wavelet-encoded height fields

NASA Technical Reports Server (NTRS)

Baxes, Gregory A. (Inventor); Linger, Timothy C. (Inventor)

2011-01-01

Systems and methods are provided for progressive mesh storage and reconstruction using wavelet-encoded height fields. A method for progressive mesh storage includes reading raster height field data, and processing the raster height field data with a discrete wavelet transform to generate wavelet-encoded height fields. In another embodiment, a method for progressive mesh storage includes reading texture map data, and processing the texture map data with a discrete wavelet transform to generate wavelet-encoded texture map fields. A method for reconstructing a progressive mesh from wavelet-encoded height field data includes determining terrain blocks, and a level of detail required for each terrain block, based upon a viewpoint. Triangle strip constructs are generated from vertices of the terrain blocks, and an image is rendered utilizing the triangle strip constructs. Software products that implement these methods are provided.

Method and system for progressive mesh storage and reconstruction using wavelet-encoded height fields

NASA Technical Reports Server (NTRS)

Baxes, Gregory A. (Inventor)

2010-01-01

Systems and methods are provided for progressive mesh storage and reconstruction using wavelet-encoded height fields. A method for progressive mesh storage includes reading raster height field data, and processing the raster height field data with a discrete wavelet transform to generate wavelet-encoded height fields. In another embodiment, a method for progressive mesh storage includes reading texture map data, and processing the texture map data with a discrete wavelet transform to generate wavelet-encoded texture map fields. A method for reconstructing a progressive mesh from wavelet-encoded height field data includes determining terrain blocks, and a level of detail required for each terrain block, based upon a viewpoint. Triangle strip constructs are generated from vertices of the terrain blocks, and an image is rendered utilizing the triangle strip constructs. Software products that implement these methods are provided.

Geomorphological Mapping of Sputnik Planum and Surrounding Terrain on Pluto

NASA Astrophysics Data System (ADS)

White, O. L.; Stern, S. A.; Weaver, H. A., Jr.; Olkin, C.; Ennico Smith, K.; Young, L. A.; Moore, J. M.; Cheng, A. F.

2015-12-01

The New Horizons flyby of Pluto in July 2015 has provided the first few close-up images of the Kuiper belt object, which reveal it to have a highly diverse range of terrains, implying a complex geological history. The highest resolution images that have yet been returned are seven lossy 400 m/pixel frames that cover the majority of the prominent Plutonian feature informally named Sputnik Planum (all feature names are currently informal), and its surroundings. This resolution is sufficient to allow detailed geomorphological mapping of this area to commence. Lossless versions of all 15 frames that make up the mosaic will be returned in September 2015, and the map presented at AGU will incorporate the total area covered by these frames. Sputnik Planum, with an area of ~650,000 km2, is notable for its smooth appearance and apparent total lack of impact craters at 400 m/pixel resolution. The Planum actually displays a wide variety of textures across its expanse, which includes smooth and pitted plains to the south, polygonal terrain at its center (the polygons can reach tens of kilometers in size and are bounded by troughs that sometimes feature central ridges), and, to the north, darker polygonal terrain displaying patterns indicative of glacial flow. Within these plains there exist several well-defined outcrops of a mottled, light/dark unit that reach from several to tens of kilometers across. Separating Sputnik Planum from the dark, cratered equatorial terrain of Cthulhu Regio on its south-western margin is a unit of chaotically arranged mountains; similar mountainous units exist on the south and western margins. The northern margin is bounded by rugged, hilly, cratered terrain into which ice of Sputnik Planum appears to be intruding in places. Terrain of similar relief exists to the east, but is much brighter than that to the north. The southernmost extent of the mosaic features a unit of rough, undulating terrain that displays very few impact craters at 400 m/pixel resolution.

LWIR passive perception system for stealthy unmanned ground vehicle night operations

NASA Astrophysics Data System (ADS)

Lee, Daren; Rankin, Arturo; Huertas, Andres; Nash, Jeremy; Ahuja, Gaurav; Matthies, Larry

2016-05-01

Resupplying forward-deployed units in rugged terrain in the presence of hostile forces creates a high threat to manned air and ground vehicles. An autonomous unmanned ground vehicle (UGV) capable of navigating stealthily at night in off-road and on-road terrain could significantly increase the safety and success rate of such resupply missions for warfighters. Passive night-time perception of terrain and obstacle features is a vital requirement for such missions. As part of the ONR 30 Autonomy Team, the Jet Propulsion Laboratory developed a passive, low-cost night-time perception system under the ONR Expeditionary Maneuver Warfare and Combating Terrorism Applied Research program. Using a stereo pair of forward looking LWIR uncooled microbolometer cameras, the perception system generates disparity maps using a local window-based stereo correlator to achieve real-time performance while maintaining low power consumption. To overcome the lower signal-to-noise ratio and spatial resolution of LWIR thermal imaging technologies, a series of pre-filters were applied to the input images to increase the image contrast and stereo correlator enhancements were applied to increase the disparity density. To overcome false positives generated by mixed pixels, noisy disparities from repeated textures, and uncertainty in far range measurements, a series of consistency, multi-resolution, and temporal based post-filters were employed to improve the fidelity of the output range measurements. The stereo processing leverages multi-core processors and runs under the Robot Operating System (ROS). The night-time passive perception system was tested and evaluated on fully autonomous testbed ground vehicles at SPAWAR Systems Center Pacific (SSC Pacific) and Marine Corps Base Camp Pendleton, California. This paper describes the challenges, techniques, and experimental results of developing a passive, low-cost perception system for night-time autonomous navigation.

Acidalia Planitia

NASA Technical Reports Server (NTRS)

2002-01-01

[figure removed for brevity, see original site] (Released 25 July 2002) The lineations seen in this THEMIS visible image occur in Acidalia Planitia, and create what is referred to as 'patterned ground' or 'polygonal terrain.' The lineations are fissures, or cracks in the ground and are possibly evidence that there was once subsurface ice or water in the region. On Earth, similar features occur when ice or water is removed from the subsurface. The removal of material causes the ground to slump, and the surface expression of this slumping is the presence of these fissures, which tend to align themselves along common orientations, and in some cases, into polygonal shapes. There are other hypotheses, not all of which involve liquid or frozen water, regarding the formation of patterned ground. Desiccation of wet soils on Earth forms mud cracks, which are similar in appearance to the martian features, but occur on a much smaller scale. Alternatively, oriented cracks form when lava flows cool. The cracks formed by this process would be on about the same scale as those seen in this image. The best example of polygonal terrain occurs about halfway down the image. The largest fractures, as in other places in the image, run from the lower left to the upper right of the image. In some cases, though, smaller fractures occur in other orientations, creating the polygonal terrain. Scientists have been aware of these features on the surface of Mars since the Viking era, but the THEMIS visible camera will allow scientists to map these features at higher resolution with more coverage over the high latitude regions where they are most common, perhaps giving further insight into the mechanism(s) of their formation.

Automated thematic mapping and change detection of ERTS-A images

NASA Technical Reports Server (NTRS)

Gramenopoulos, N. (Principal Investigator)

1975-01-01

The author has identified the following significant results. In the first part of the investigation, spatial and spectral features were developed which were employed to automatically recognize terrain features through a clustering algorithm. In this part of the investigation, the size of the cell which is the number of digital picture elements used for computing the spatial and spectral features was varied. It was determined that the accuracy of terrain recognition decreases slowly as the cell size is reduced and coincides with increased cluster diffuseness. It was also proven that a cell size of 17 x 17 pixels when used with the clustering algorithm results in high recognition rates for major terrain classes. ERTS-1 data from five diverse geographic regions of the United States were processed through the clustering algorithm with 17 x 17 pixel cells. Simple land use maps were produced and the average terrain recognition accuracy was 82 percent.

Using game engine for 3D terrain visualisation of GIS data: A review

NASA Astrophysics Data System (ADS)

Che Mat, Ruzinoor; Shariff, Abdul Rashid Mohammed; Nasir Zulkifli, Abdul; Shafry Mohd Rahim, Mohd; Hafiz Mahayudin, Mohd

2014-06-01

This paper reviews on the 3D terrain visualisation of GIS data using game engines that are available in the market as well as open source. 3D terrain visualisation is a technique used to visualise terrain information from GIS data such as a digital elevation model (DEM), triangular irregular network (TIN) and contour. Much research has been conducted to transform the 2D view of map to 3D. There are several terrain visualisation softwares that are available for free, which include Cesium, Hftool and Landserf. This review paper will help interested users to better understand the current state of art in 3D terrain visualisation of GIS data using game engines.

Geologic Mapping of Vesta

NASA Technical Reports Server (NTRS)

Yingst, R. A.; Mest, S. C.; Berman, D. C.; Garry, W. B.; Williams, D. A.; Buczkowski, D.; Jaumann, R.; Pieters, C. M.; De Sanctis, M. C.; Frigeri, A.;

A positional estimation technique for an autonomous land vehicle in an unstructured environment

NASA Technical Reports Server (NTRS)

Talluri, Raj; Aggarwal, J. K.

1990-01-01

This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.

Automated generation of image products for Mars Exploration Rover Mission tactical operations

NASA Technical Reports Server (NTRS)

Alexander, Doug; Zamani, Payam; Deen, Robert; Andres, Paul; Mortensen, Helen

2005-01-01

This paper will discuss, from design to implementation, the methodologies applied to MIPL's automated pipeline processing as a 'system of systems' integrated with the MER GDS. Overviews of the interconnected product generating systems will also be provided with emphasis on interdependencies, including those for a) geometric rectificationn of camera lens distortions, b) generation of stereo disparity, c) derivation of 3-dimensional coordinates in XYZ space, d) generation of unified terrain meshes, e) camera-to-target ranging (distance) and f) multi-image mosaicking.

Local-scale stratigraphy of grooved terrain on Ganymede

NASA Technical Reports Server (NTRS)

Murchie, Scott L.; Head, James W.; Helfenstein, Paul; Plescia, Jeffrey B.

1987-01-01

The surface of the Jovian satellite, Ganymede, is divided into two main units, dark terrain cut by arcuate and subradial furrows, and light terrain consisting largely of areas with pervasive U-shaped grooves. The grooved terrain may be subdivided on the basis of pervasive morphology of groove domains into four terrain types: (1) elongate bands of parallel grooves (groove lanes); (2) polygonal domains of parallel grooves (grooved polygons); (3) polygonal domains of two orthogonal groove sets (reticulate terrain); and (4) polygons having two to several complexly cross-cutting groove sets (complex grooved terrain). Reticulate terrain is frequently dark and not extensively resurfaced, and grades to a more hummocky terrain type. The other three grooved terrain types have almost universally been resurfaced by light material during their emplacement. The sequence of events during grooved terrain emplacement has been investigated. An attempt is made to integrate observed geologic and tectonic patterns to better constrain the relative ages and styles of emplacement of grooved terrain types. A revised model of grooved terrain emplacement is proposed and is tested using detailed geologic mapping and measurement of crater density.

Novel 3D imaging techniques for improved understanding of planetary surface geomorphology.

NASA Astrophysics Data System (ADS)

Muller, Jan-Peter

2015-04-01

Understanding the role of different planetary surface formation processes within our Solar System is one of the fundamental goals of planetary science research. There has been a revolution in planetary surface observations over the past decade for Mars and the Moon, especially in 3D imaging of surface shape (down to resolutions of 75cm) and subsequent correction for terrain relief of imagery from orbiting and co-registration of lander and rover robotic images. We present some of the recent highlights including 3D modelling of surface shape from the ESA Mars Express HRSC (High Resolution Stereo Camera), see [1], [2] at 30-100m grid-spacing; and then co-registered to HRSC using a resolution cascade of 20m DTMs from NASA MRO stereo-CTX and 0.75m DTMs from MRO stereo-HiRISE [3]. This has opened our eyes to the formation mechanisms of megaflooding events, such as the formation of Iani Vallis and the upstream blocky terrain, to crater lakes and receding valley cuts [4]. A comparable set of products is now available for the Moon from LROC-WA at 100m [5] and LROC-NA at 1m [6]. Recently, a very novel technique for the super-resolution restoration (SRR) of stacks of images has been developed at UCL [7]. First examples shown will be of the entire MER-A Spirit rover traverse taking a stack of 25cm HiRISE to generate a corridor of SRR images along the rover traverse of 5cm imagery of unresolved features such as rocks, created as a consequence of meteoritic bombardment, ridge and valley features. This SRR technique will allow us for ˜400 areas on Mars (where 5 or more HiRISE images have been captured) and similar numbers on the Moon to resolve sub-pixel features. Examples will be shown of how these SRR images can be employed to assist with the better understanding of surface geomorphology. Acknowledgements: The research leading to these results has received funding from the European Union's Seventh Framework Programme (FP7/2007-2013) under PRoViDE grant agreement n° 312377. Partial support is also provided from the STFC 'MSSL Consolidated Grant' ST/K000977/1. References: [1] Gwinner, K., F. et al. (2010) Topography of Mars from global mapping by HRSC high-resolution digital terrain models and orthoimages: characteristics and performance. Earth and Planetary Science Letters 294, 506-519, doi:10.1016/j.epsl.2009.11.007, 2010; [2] Gwinner, K., F. et al. (2015) MarsExpress High Resolution Stereo Camera (HRSC) Multi-orbit Data Products: Methodology, Mapping Concepts and Performance for the first Quadrangle (MC-11E). Geophysical Research Abstracts, Vol. 17, EGU2015-13832; [3] Kim, J., & Muller, J. (2009). Multi-resolution topographic data extraction from Martian stereo imagery. Planetary and Space Science, 57, 2095-2112. doi:10.1016/j.pss.2009.09.024; [4] Warner, N. H., Gupta, S., Kim, J.-R., Muller, J.-P., Le Corre, L., Morley, J., et al. (2011). Constraints on the origin and evolution of Iani Chaos, Mars. Journal of Geophysical Research, 116(E6), E06003. doi:10.1029/2010JE003787; [5] Fok, H. S., Shum, C. K., Yi, Y., Araki, H., Ping, J., Williams, J. G., et al. (2011). Accuracy assessment of lunar topography models. Earth Planets Space, 63, 15-23. doi:10.5047/eps.2010.08.005; [6] Haase, I., Oberst, J., Scholten, F., Wählisch, M., Gläser, P., Karachevtseva, I., & Robinson, M. S. (2012). Mapping the Apollo 17 landing site area based on Lunar Reconnaissance Orbiter Camera images and Apollo surface photography - Haase - 2012 - Journal of Geophysical Research: Planets (1991-2012). Journal of Geophysical Research, 117, E00H20. doi:10.1029/2011JE003908; [7] Tao, Y., Muller, J.-P. (2015) Supporting lander and rover operation: a novel super-resolution restoration technique. Geophysical Research Abstracts, Vol. 17, EGU2015-6925

Multi-Scale and Object-Oriented Analysis for Mountain Terrain Segmentation and Geomorphological Assessment

NASA Astrophysics Data System (ADS)

Marston, B. K.; Bishop, M. P.; Shroder, J. F.

2009-12-01

Digital terrain analysis of mountain topography is widely utilized for mapping landforms, assessing the role of surface processes in landscape evolution, and estimating the spatial variation of erosion. Numerous geomorphometry techniques exist to characterize terrain surface parameters, although their utility to characterize the spatial hierarchical structure of the topography and permit an assessment of the erosion/tectonic impact on the landscape is very limited due to scale and data integration issues. To address this problem, we apply scale-dependent geomorphometric and object-oriented analyses to characterize the hierarchical spatial structure of mountain topography. Specifically, we utilized a high resolution digital elevation model to characterize complex topography in the Shimshal Valley in the Western Himalaya of Pakistan. To accomplish this, we generate terrain objects (geomorphological features and landform) including valley floors and walls, drainage basins, drainage network, ridge network, slope facets, and elemental forms based upon curvature. Object-oriented analysis was used to characterize object properties accounting for object size, shape, and morphometry. The spatial overlay and integration of terrain objects at various scales defines the nature of the hierarchical organization. Our results indicate that variations in the spatial complexity of the terrain hierarchical organization is related to the spatio-temporal influence of surface processes and landscape evolution dynamics. Terrain segmentation and the integration of multi-scale terrain information permits further assessment of process domains and erosion, tectonic impact potential, and natural hazard potential. We demonstrate this with landform mapping and geomorphological assessment examples.

Stream network analysis from orbital and suborbital imagery, Colorado River Basin, Texas

NASA Technical Reports Server (NTRS)

Baker, V. R. (Principal Investigator)

1973-01-01

The author has identified the following significant results. Orbital SL-2 imagery (earth terrain camera S-190B), received September 5, 1973, was subjected to quantitative network analysis and compared to 7.5 minute topographic mapping (scale: 1/24,000) and U.S.D.A. conventional black and white aerial photography (scale: 1/22,200). Results can only be considered suggestive because detail on the SL-2 imagery was badly obscured by heavy cloud cover. The upper Bee Creek basin was chosen for analysis because it appeared in a relatively cloud-free portion of the orbital imagery. Drainage maps were drawn from the three sources digitized into a computer-compatible format, and analyzed by the WATER system computer program. Even at its small scale (1/172,000) and with bad haze the orbital photo showed much drainage detail. The contour-like character of the Glen Rose Formation's resistant limestone units allowed channel definition. The errors in pattern recognition can be attributed to local areas of dense vegetation and to other areas of very high albedo caused by surficial exposure of caliche. The latter effect caused particular difficulty in the determination of drainage divides.

A Whale of a Panorama

NASA Technical Reports Server (NTRS)

2005-01-01

[figure removed for brevity, see original site] Click on the image for A Whale of a Panorama (QTVR)

More than 1.5 years into their exploration of Mars, both of NASA's Mars Exploration Rovers continue to send a cornucopia of images to Earth. The results are so spectacular that Deputy Project Manager John Callas recently described them as 'an embarrassment of riches.' Spirit produced this image mosaic, nicknamed the 'Whale Panorama,' two-thirds of the way to the summit of 'Husband Hill,' where the rover investigated martian rocks. On the right side of the panorama is a tilted layer of rocks dubbed 'Larry's Outcrop,' one of several tilted outcrops that scientists examined in April, 2005. They used spatial information to create geologic maps showing the compass orientation and degree of tilting of rock formations in the vicinity. Such information is key to geologic fieldwork because it helps establish if rock layers have been warped since they formed. In this case, scientists have also been studying the mineral and chemical differences, which show that some rocks have been more highly altered than others.

In the foreground, in the middle of the image mosaic, Spirit is shown with the scientific instruments at the end of its robotic arm positioned on a rock target known as 'Ahab.' The rover was busy collecting elemental chemistry and mineralogy data on the rock at the same time that it was taking 50 individual snapshots with its five panoramic camera filters to create this stunning view of the martian scenery. The twin tracks of the rover's all-terrain wheels are clearly visible on the left.

This mosaic of images spans about 220 degrees from left to right and is an approximate true-color rendering of the Mars terrain acquired through the panoramic camera's 750-, 530-, and 430-nanometer filters. Spirit collected these images from its 497th martian day, or sol, through its 500th sol (May 27 through May 30, 2005).

New Moon

NASA Image and Video Library

2017-12-08

New Moon. By the modern definition, New Moon occurs when the Moon and Sun are at the same geocentric ecliptic longitude. The part of the Moon facing us is completely in shadow then. Pictured here is the traditional New Moon, the earliest visible waxing crescent, which signals the start of a new month in many lunar and lunisolar calendars. NASA's Lunar Reconnaissance Orbiter (LRO) has been in orbit around the Moon since the summer of 2009. Its laser altimeter (LOLA) and camera (LROC) are recording the rugged, airless lunar terrain in exceptional detail, making it possible to visualize the Moon with unprecedented fidelity. This is especially evident in the long shadows cast near the terminator, or day-night line. The pummeled, craggy landscape thrown into high relief at the terminator would be impossible to recreate in the computer without global terrain maps like those from LRO. To download, learn more about this visualization, or to see what the Moon will look like at any hour in 2015, visit svs.gsfc.nasa.gov/goto?4236 NASA image use policy. NASA Goddard Space Flight Center enables NASA’s mission through four scientific endeavors: Earth Science, Heliophysics, Solar System Exploration, and Astrophysics. Goddard plays a leading role in NASA’s accomplishments by contributing compelling scientific knowledge to advance the Agency’s mission. Follow us on Twitter Like us on Facebook Find us on Instagram

Preduction of Vehicle Mobility on Large-Scale Soft-Soil Terrain Maps Using Physics-Based Simulation

DTIC Science & Technology

2016-08-02

PREDICTION OF VEHICLE MOBILITY ON LARGE-SCALE SOFT- SOIL TERRAIN MAPS USING PHYSICS-BASED SIMULATION Tamer M. Wasfy, Paramsothy Jayakumar, Dave...NRMM • Objectives • Soft Soils • Review of Physics-Based Soil Models • MBD/DEM Modeling Formulation – Joint & Contact Constraints – DEM Cohesive... Soil Model • Cone Penetrometer Experiment • Vehicle- Soil Model • Vehicle Mobility DOE Procedure • Simulation Results • Concluding Remarks 2UNCLASSIFIED

Program Merges SAR Data on Terrain and Vegetation Heights

NASA Technical Reports Server (NTRS)

Siqueira, Paul; Hensley, Scott; Rodriguez, Ernesto; Simard, Marc

2007-01-01

X/P Merge is a computer program that estimates ground-surface elevations and vegetation heights from multiple sets of data acquired by the GeoSAR instrument [a terrain-mapping synthetic-aperture radar (SAR) system that operates in the X and bands]. X/P Merge software combines data from X- and P-band digital elevation models, SAR backscatter magnitudes, and interferometric correlation magnitudes into a simplified set of output topographical maps of ground-surface elevation and tree height.

Water Detection Based on Color Variation

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.

2012-01-01

This software has been designed to detect water bodies that are out in the open on cross-country terrain at close range (out to 30 meters), using imagery acquired from a stereo pair of color cameras mounted on a terrestrial, unmanned ground vehicle (UGV). This detector exploits the fact that the color variation across water bodies is generally larger and more uniform than that of other naturally occurring types of terrain, such as soil and vegetation. Non-traversable water bodies, such as large puddles, ponds, and lakes, are detected based on color variation, image intensity variance, image intensity gradient, size, and shape. At ranges beyond 20 meters, water bodies out in the open can be indirectly detected by detecting reflections of the sky below the horizon in color imagery. But at closer range, the color coming out of a water body dominates sky reflections, and the water cue from sky reflections is of marginal use. Since there may be times during UGV autonomous navigation when a water body does not come into a perception system s field of view until it is at close range, the ability to detect water bodies at close range is critical. Factors that influence the perceived color of a water body at close range are the amount and type of sediment in the water, the water s depth, and the angle of incidence to the water body. Developing a single model of the mixture ratio of light reflected off the water surface (to the camera) to light coming out of the water body (to the camera) for all water bodies would be fairly difficult. Instead, this software detects close water bodies based on local terrain features and the natural, uniform change in color that occurs across the surface from the leading edge to the trailing edge.

Miranda - 'Chevron' Grooves

NASA Technical Reports Server (NTRS)

1986-01-01

This image of Miranda, obtained by Voyager 2 on approach, shows an unusual 'chevron' figure and regions of distinctly differing terrain on the Uranian moon. Voyager was 42,000 kilometers (26,000 miles) away when its narrow-angle camera acquired this clear-filter view. Grooved areas baring light and dark bands, distinct from other areas of mottled terrain, are visible at this resolution of about 600 meters (2,000 feet). The bright V-shaped feature in the grooved areas is the 'chevron' observed in earlier, lower-resolution images. Cutting across the bands are sinuous scarps, probably faults. Superimposed on both types of terrain are many bowl-shaped impact craters less than 5 km (3 mi) wide. The entire picture spans an area about 220 km (140 mi) across. The Voyager project is managed for NASA by the Jet Propulsion Laboratory.

Investigation of small scale roughness properties of Martian terrains using Mars Reconnaissance Orbiter data.

NASA Astrophysics Data System (ADS)

Ivanov, A. B.; Rossi, A.

2009-04-01

Studies of layered terrains in polar regions as well as inside craters and other areas on Mars often require knowledge of local topography at much finer resolution than global MOLA topography allows. For example, in the polar layered deposits spatial relationships are important to understand unconformities that are observed on the edges of the layered terrains [15,3]. Their formation process is not understood at this point, yet fine scale topography, joint with ground penetrating radar like SHARAD and MARSIS may shed light on their 3D structure. Landing site analysis also requires knowledge of local slopes and roughness at scales from 1 to 10 m [1,2]. Mars Orbiter Camera [13] has taken stereo images at these scales, however interpretation was difficult due to unstable behavior of the Mars Global Surveyor spacecraft during image take (wobbling effect). Mars Reconnaissance Orbiter (MRO) is much better stabilized, since it is required for optimal operation of its high resolution camera. In this work we have utilized data from MRO sensors (CTX camera [11] and HIRISE camera [12] in order to derive digital elevation models (DEM) from images targeted as stereo pairs. We employed methods and approaches utilized for the Mars Orbiter Camera (MOC) stereo data [4,5]. CTX data varies in resolution and stereo pairs analyzed in this work can be derived at approximately 10m scale. HIRISE images allow DEM post spacing at around 1 meter. The latter are very big images and our computer infrastructure was only able to process either reduced resolution images, covering larger surface or working with smaller patches at the original resolution. We employed stereo matching technique described in [5,9], in conjunction with radiometric and geometric image processing in ISIS3 [16]. This technique is capable of deriving tiepoint co-registration at subpixel precision and has proven itself when used for Pathfinder and MER operations [8]. Considerable part of this work was to accommodate CTX and HIRISE image processing in the existing data processing pipeline and improve it at the same time. Currently the workflow is not finished: DEM units are relative and are not in elevation. We have been able to derive successful DEMs from CTX data Becquerel [14] and Crommelin craters as well as for some areas in the North Polar Layered Terrain. Due to its tremendous resolution HIRISE data showing great surface detail, hence allowing better correlation than other sensors considered in this work. In all cases DEM were showing considerable potential for exploration of terrain characteristics. Next steps include cross validation results with DEM produced by other teams and sensors (HRSC [6], HIRISE [7]) and providing elevation in terms of absolute height over a MOLA areoid. MRO imaging data allows us an unprecedented look at Martian terrain. This work provides a step forward derivation of DEM from HIRISE and CTX datasets and currently undergoing validation vs. other existing datasets. We will present our latest results for layering structures in both North and South Polar Layered deposits as well as layered structures inside Becquerel and Crommelin craters. Digital Elevation models derived from the CTX sensor can also be utilized effectively as a input for clutter reduction models, which are in turn used for the ground penetrating SHARAD instrument [13]. References. [1] R. Arvidson, et al. Mars exploration program 2007 phoenix landing site selection and characteristics. Journal of Geophysical Research-Planets, 113, JUN 19 2008. [2] M. Golombek, et al. Assessment of mars exploration rover landing site predictions. Nature, 436(7047):44-48, JUL 7 2005. [3] K. E. Herkenhoff, et al. Meter-scale morphology of the north polar region of mars. Science, 317(5845):1711-1715, SEP 21 2007. [4] A. B. Ivanov. Ten-Meter Scale Topography and Roughness of Mars Exploration Rovers Landing Sites and Martian Polar Regions. volume 34 of Lunar and Planetary Inst. Technical Report, pages 2084-+, Mar. 2003. [5] A. B. Ivanov and J. J. Lorre. Analysis of Mars Orbiter Camera Stereo Pairs. In Lunar and Planetary Institute Conference Abstracts, volume 33 of Lunar and Planetary Inst. Technical Report, pages 1845-+, Mar. 2002. [6] R. Jaumann, et al. The high-resolution stereo camera (HRSC) experiment on mars express: Instrument aspects and experiment conduct from interplanetary cruise through the nominal mission. Planetary and Space Science, 55(7-8):928-952, MAY 2007. [7] R. L. Kirk, et al. Ultrahigh resolution topographic mapping of mars with MRO HIRISE stereo images: Meter-scale slopes of candidate phoenix landing sites. Journal of Geophysical Research-Planets, 113, NOV 15 2008. [8] S. Lavoie, et al. Processing and analysis of mars pathfinder science data at the jet propulsion laboratory's science data processing systems section. Journal of Geophysical Research-Planets, 104(E4):8831-8852, APR 25 1999. [9] J. J. Lorre, et al. Recent developments at JPL in the application of image processing to astronomy. In D. L. Crawford, editor, Instrumentation in Astronomy III, volume 172 of Society of Photo-Optical Instrumentation Engineers (SPIE) Conference Series, pages 394-402, 1979. [10] M. Malin, et al. Early views of the martian surface from the mars orbiter camera of mars global surveyor. Science, 279(5357):1681-1685, MAR 13 1998. [11] M. C. Malin,et al. Context camera investigation on board the mars reconnaissance orbiter. Journal of Geophysical Research-Planets, 112(E5), MAY 18 2007. [12] A. S. McEwen, et al.. Mars reconnaissance orbiter's high resolution imaging science experiment (HIRISE). Journal of Geophysical Research-Planets, 112(E5), MAY 17 2007. [13] A. Rossi, et al. Multi-spacecraft synergy with MEX HRSC and MRO SHARAD: Light-Toned Deposits in crater bulges. AGU Fall Meeting Abstracts, pages B1371+, Dec. 2008. [14] A. P. Rossi, et al. Stratigraphic architecture and structural control on sediment emplacement in Becquerel crater (Mars). volume 40. Lunar and Planetary Science Institute, 2009. [15] K. L. Tanaka,et al. North polar region of mars: Advances in stratigraphy, structure, and erosional modification, AUG 2008. Icarus. [16] USGS. Planetary image processing software: ISIS3. http://isis.astrogeology.usgs.gov/

Proposal for a study of computer mapping of terrain using multispectral data from ERTS-A for the Yellowstone National Park test site

NASA Technical Reports Server (NTRS)

Smedes, H. W. (Principal Investigator); Root, R. R.; Roller, N. E. G.; Despain, D.

1978-01-01

The author has identified the following significant results. A terrain map of Yellowstone National Park showed plant community types and other classes of ground cover in what is basically a wild land. The map comprised 12 classes, six of which were mapped with accuracies of 70 to 95%. The remaining six classes had spectral reflectances that overlapped appreciably, and hence, those were mapped less accurately. Techniques were devised for quantitatively comparing the recognition map of the park with control data acquired from ground inspection and from analysis of sidelooking radar images, a thermal IR mosaic, and IR aerial photos of several scales. Quantitative analyses were made in ten 40 sq km test areas. Comparison mechanics were performed by computer with the final results displayed on line printer output. Forested areas were mapped by computer using ERTS data for less than 1/4 the cost of the conventional forest mapping technique for topographic base maps.

Geological Mapping of the Encounter Hemisphere on Pluto

NASA Astrophysics Data System (ADS)

White, O. L.; Moore, J. M.; Stern, S. A.; Weaver, H. A.; Olkin, C. B.; Ennico, K.; Young, L. A.; Cheng, A. F.; New Horizons GGI Theme Team

2016-06-01

We present mapping of Pluto's encounter hemisphere performed to date (focusing on Sputnik Planum and the immediately surrounding area) and offer preliminary descriptions of terrains further afield that will be the subject of future mapping.

Geomorphologic Map of Titan's Polar Terrains

NASA Astrophysics Data System (ADS)

Birch, S. P. D.; Hayes, A. G.; Malaska, M. J.; Lopes, R. M. C.; Schoenfeld, A.; Williams, D. A.

2016-06-01

Titan's lakes and seas contain vast amounts of information regarding the history and evolution of Saturn's largest moon. To understand this landscape, we created a geomorphologic map, and then used our map to develop an evolutionary model.

Development of an Unmanned Aerial System (UAS) for Scaling Terrestrial Ecosystem Traits

NASA Astrophysics Data System (ADS)

Meng, R.; McMahon, A. M.; Serbin, S.; Rogers, A.

2015-12-01

The next generation of Ecosystem and Earth System Models (EESMs) will require detailed information on ecosystem structure and function, including properties of vegetation related to carbon (C), water, and energy cycling, in order to project the future state of ecosystems. High spatial-temporal resolution measurements of terrestrial ecosystem are also important for EESMs, because they can provide critical inputs and benchmark datasets for evaluation of EESMs simulations across scales. The recent development of high-quality, low-altitude remote sensing platforms or small UAS (< 25 kg) enables measurements of terrestrial ecosystems at unprecedented temporal and spatial scales. Specifically, these new platforms can provide detailed information on patterns and processes of terrestrial ecosystems at a critical intermediate scale between point measurements and suborbital and satellite platforms. Given their potential for sub-decimeter spatial resolution, improved mission safety, high revisit frequency, and reduced operation cost, these platforms are of particular interest in the development of ecological scaling algorithms to parameterize and benchmark EESMs, particularly over complex and remote terrain. Our group is developing a small UAS platform and integrated sensor package focused on measurement needs for scaling and informing ecosystem modeling activities, as well as scaling and mapping plant functional traits. To do this we are developing an integrated software workflow and hardware package using off-the-shelf instrumentation including a high-resolution digital camera for Structure from Motion, spectroradiometer, and a thermal infrared camera. Our workflow includes platform design, measurement, image processing, data management, and information extraction. The fusion of 3D structure information, thermal-infrared imagery, and spectroscopic measurements, will provide a foundation for the development of ecological scaling and mapping algorithms. Our initial focus is in temperate forests but near-term research will expand into the high-arctic and eventually tropical systems. The results of this prototype study show that off-the-shelf technology can be used to develop a low-cost alternative for mapping plant traits and three-dimensional structure for ecological research.

Expression of terrain and surface geology in high-resolution helicopter-borne gravity gradient (AGG) data: examples from Great Sand Dunes National Park, Rio Grande Rift, Colorado

USGS Publications Warehouse

Drenth, Benjamin J.

2013-01-01

Airborne gravity gradient (AGG) data are rapidly becoming standard components of geophysical mapping programs, due to their advantages in cost, access, and resolution advantages over measurements of the gravity field on the ground. Unlike conventional techniques that measure the gravity field, AGG methods measure derivatives of the gravity field. This means that effects of terrain and near-surface geology are amplified in AGG data, and that proper terrain corrections are critically important for AGG data processing. However, terrain corrections require reasonable estimates of density for the rocks and sediments that make up the terrain. A recommended philosophical approach is to use the terrain and surface geology, with their strong expression in AGG data, to the interpreter’s advantage. An example of such an approach is presented here for an area with very difficult ground access and little ground gravity data. Nettleton-style profiling is used with AGG data to estimate the densities of the sand dunefield and adjacent Precambrian rocks from the area of Great Sand Dunes National Park in southern Colorado. Processing of the AGG data using the density estimate for the dunefield allows buried structures, including a hypothesized buried basement bench, to be mapped beneath the sand dunes.

A Detailed Geomorphological Sketch Map of Titan's Afekan Crater Region

NASA Astrophysics Data System (ADS)

Schoenfeld, A.; Malaska, M. J.; Lopes, R. M. C.; Le Gall, A. A.; Birch, S. P.; Hayes, A.

2014-12-01

Due to Titan's uniquely thick atmosphere and organic haze layers, the most detailed images (with resolution of 300 meters per pixel) of the Saturnian moon's surface exist as Synthetic Aperture Radar (SAR) images taken by Cassini's RADAR instrument. Using the SAR data, we have been putting together detailed geomorphological sketch maps of various Titan regions in an effort to piece together its geologic history. We initially examined the Afekan region of Titan due to extensive SAR coverage. Features described on Afekan fall under the categories (in order of geologic age, extrapolated from their relative emplacement) of hummocky, labyrinthic, plains, and dunes. During our mapping effort, we also divided each terrain category into several different subclasses on a local level. Our map offers a chance to present and analyze the distribution, relationship, and potential formation hypotheses of the different terrains. In bulk, we find evidence for both Aeolian and fluvial processes. A particularly important unit found in the Afekan region is the unit designated "undifferentiated plains", or the "Blandlands" of Titan, a mid-latitude terrain unit comprising 25% of the moon's surface. Undifferentiated plains are notable for its relative featurelessness in radar and infrared. Our interpretation is that it is a fill unit in and around Afekan crater and other hummocky/mountainous units. The plains suggest that the nature of Titan's geomorphology seems to be tied to ongoing erosional forces and sediment deposition. Other datasets used in characterizing Titan's various geomorphological units include information obtained from radiometry, infrared (ISS), and spectrometry (VIMS). We will present the detailed geomorphological sketch map with all the terrain units assigned and labeled.

Application of terrestrial photogrammetry for the mass balance calculation on Montasio Occidentale Glacier (Julian Alps, Italy)

NASA Astrophysics Data System (ADS)

Piermattei, Livia; Carturan, Luca; Calligaro, Simone; Blasone, Giacomo; Guarnieri, Alberto; Tarolli, Paolo; Dalla Fontana, Giancarlo; Vettore, Antonio

2014-05-01

Digital elevation models (DEMs) of glaciated terrain are commonly used to measure changes in geometry and hence infer the mass balance of glaciers. Different tools and methods exist to obtain information about the 3D geometry of terrain. Recent improvements on the quality and performance of digital cameras for close-range photogrammetry, and the development of automatic digital photogrammetric processing makes the 'structure from motion' photogrammetric technique (SfM) competitive for high quality 3D models production, compared to efficient but also expensive and logistically-demanding survey technologies such as airborn and terrestrial laser scanner (TLS). The purpose of this work is to test the SfM approach, using a consumer-grade SLR camera and the low-cost computer vision-based software package Agisoft Photoscan (Agisoft LLC), to monitor the mass balance of Montasio Occidentale glacier, a 0.07km2, low-altitude, debris-covered glacier located in the Eastern Italian Alps. The quality of the 3D models produced by the SfM process has been assessed by comparison with digital terrain models obtained through TLS surveys carried out at the same dates. TLS technique has indeed proved to be very effective in determining the volume change of this glacier in the last years. Our results shows that the photogrammetric approach can produce point cloud densities comparable to those derived from TLS measurements. Furthermore, the horizontal and vertical accuracies are also of the same order of magnitude as for TLS (centimetric to decimetric). The effect of different landscape characteristics (e.g. distance from the camera or terrain gradient) and of different substrata (rock, debris, ice, snow and firn) was also evaluated in terms of SfM reconstruction's accuracy vs. TLS. Given the good results obtained on the Montasio Occidentale glacier, it can be concluded that the terrestrial photogrammetry, with the advantageous features of portability, ease of use and above all low costs, allows to obtain high-resolution DEMs which enable good mass balance estimations on glaciers with similar characteristics.

HRSC: High resolution stereo camera

USGS Publications Warehouse

Neukum, G.; Jaumann, R.; Basilevsky, A.T.; Dumke, A.; Van Gasselt, S.; Giese, B.; Hauber, E.; Head, J. W.; Heipke, C.; Hoekzema, N.; Hoffmann, H.; Greeley, R.; Gwinner, K.; Kirk, R.; Markiewicz, W.; McCord, T.B.; Michael, G.; Muller, Jan-Peter; Murray, J.B.; Oberst, J.; Pinet, P.; Pischel, R.; Roatsch, T.; Scholten, F.; Willner, K.

2009-01-01

The High Resolution Stereo Camera (HRSC) on Mars Express has delivered a wealth of image data, amounting to over 2.5 TB from the start of the mapping phase in January 2004 to September 2008. In that time, more than a third of Mars was covered at a resolution of 10-20 m/pixel in stereo and colour. After five years in orbit, HRSC is still in excellent shape, and it could continue to operate for many more years. HRSC has proven its ability to close the gap between the low-resolution Viking image data and the high-resolution Mars Orbiter Camera images, leading to a global picture of the geological evolution of Mars that is now much clearer than ever before. Derived highest-resolution terrain model data have closed major gaps and provided an unprecedented insight into the shape of the surface, which is paramount not only for surface analysis and geological interpretation, but also for combination with and analysis of data from other instruments, as well as in planning for future missions. This chapter presents the scientific output from data analysis and highlevel data processing, complemented by a summary of how the experiment is conducted by the HRSC team members working in geoscience, atmospheric science, photogrammetry and spectrophotometry. Many of these contributions have been or will be published in peer-reviewed journals and special issues. They form a cross-section of the scientific output, either by summarising the new geoscientific picture of Mars provided by HRSC or by detailing some of the topics of data analysis concerning photogrammetry, cartography and spectral data analysis.

Airborne camera and spectrometer experiments and data evaluation

NASA Astrophysics Data System (ADS)

Lehmann, F. F.; Bucher, T.; Pless, S.; Wohlfeil, J.; Hirschmüller, H.

2009-09-01

New stereo push broom camera systems have been developed at German Aerospace Centre (DLR). The new small multispectral systems (Multi Functional Camerahead - MFC, Advanced Multispectral Scanner - AMS) are light weight, compact and display three or five RGB stereo lines of 8000, 10 000 or 14 000 pixels, which are used for stereo processing and the generation of Digital Surface Models (DSM) and near True Orthoimage Mosaics (TOM). Simultaneous acquisition of different types of MFC-cameras for infrared and RGB data has been successfully tested. All spectral channels record the image data in full resolution, pan-sharpening is not necessary. Analogue to the line scanner data an automatic processing chain for UltraCamD and UltraCamX exists. The different systems have been flown for different types of applications; main fields of interest among others are environmental applications (flooding simulations, monitoring tasks, classification) and 3D-modelling (e.g. city mapping). From the DSM and TOM data Digital Terrain Models (DTM) and 3D city models are derived. Textures for the facades are taken from oblique orthoimages, which are created from the same input data as the TOM and the DOM. The resulting models are characterised by high geometric accuracy and the perfect fit of image data and DSM. The DLR is permanently developing and testing a wide range of sensor types and imaging platforms for terrestrial and space applications. The MFC-sensors have been flown in combination with laser systems and imaging spectrometers and special data fusion products have been developed. These products include hyperspectral orthoimages and 3D hyperspectral data.

Lunar Reconnaissance Orbiter Camera (LROC) instrument overview

USGS Publications Warehouse

Robinson, M.S.; Brylow, S.M.; Tschimmel, M.; Humm, D.; Lawrence, S.J.; Thomas, P.C.; Denevi, B.W.; Bowman-Cisneros, E.; Zerr, J.; Ravine, M.A.; Caplinger, M.A.; Ghaemi, F.T.; Schaffner, J.A.; Malin, M.C.; Mahanti, P.; Bartels, A.; Anderson, J.; Tran, T.N.; Eliason, E.M.; McEwen, A.S.; Turtle, E.; Jolliff, B.L.; Hiesinger, H.

2010-01-01

The Lunar Reconnaissance Orbiter Camera (LROC) Wide Angle Camera (WAC) and Narrow Angle Cameras (NACs) are on the NASA Lunar Reconnaissance Orbiter (LRO). The WAC is a 7-color push-frame camera (100 and 400 m/pixel visible and UV, respectively), while the two NACs are monochrome narrow-angle linescan imagers (0.5 m/pixel). The primary mission of LRO is to obtain measurements of the Moon that will enable future lunar human exploration. The overarching goals of the LROC investigation include landing site identification and certification, mapping of permanently polar shadowed and sunlit regions, meter-scale mapping of polar regions, global multispectral imaging, a global morphology base map, characterization of regolith properties, and determination of current impact hazards.

Testing a small UAS for mapping artisanal diamond mining sites in Africa

USGS Publications Warehouse

Malpeli, Katherine C.; Chirico, Peter G.

2015-01-01

Remote sensing technology is advancing at an unprecedented rate. At the forefront of the new technological developments are unmanned aircraft systems (UAS). The advent of small, lightweight, low-cost, and user-friendly UAS is greatly expanding the potential applications of remote sensing technology and improving the set of tools available to researchers seeking to map and monitor terrain from above. In this article, we explore the applications of a small UAS for mapping informal diamond mining sites in Africa. We found that this technology provides aerial imagery of unparalleled resolution in a data-sparse, difficult to access, and remote terrain.

Updating road databases from shape-files using aerial images

NASA Astrophysics Data System (ADS)

Häufel, Gisela; Bulatov, Dimitri; Pohl, Melanie

2015-10-01

Road databases are an important part of geo data infrastructure. The knowledge about their characteristics and course is essential for urban planning, navigation or evacuation tasks. Starting from OpenStreetMap (OSM) shape-file data for street networks, we introduce an algorithm to enrich these available road maps by new maps which are based on other airborne sensor technology. In our case, these are results of our context-based urban terrain reconstruction process. We wish to enhance the use of road databases by computing additional junctions, narrow passages and other items which may emerge due to changes in the terrain. This is relevant for various military and civil applications.

Virtual Field Reconnaissance to enable multi-site collaboration in geoscience fieldwork in Chile.

NASA Astrophysics Data System (ADS)

Hughes, Leanne; Bateson, Luke; Ford, Jonathan; Napier, Bruce; Creixell, Christian; Contreras, Juan-Pablo; Vallette, Jane

2017-04-01

The unique challenges of geological mapping in remote terrains can make cross-organisation collaboration challenging. Cooperation between the British and Chilean Geological Surveys and the Chilean national mining company used the BGS digital Mapping Workflow and virtual field reconnaissance software (GeoVisionary) to undertake geological mapping in a complex area of Andean Geology. The international team undertook a pre-field evaluation using GeoVisionary to integrate massive volumes of data and interpret high resolution satellite imagery, terrain models and existing geological information to capture, manipulate and understand geological features and re-interpret existing maps. This digital interpretation was then taken into the field and verified using the BGS digital data capture system (SIGMA.mobile). This allowed the production of final geological interpretation and creation of a geological map. This presentation describes the digital mapping workflow used in Chile and highlights the key advantages of increased efficiency and communication to colleagues, stakeholders and funding bodies.

Algorithms and methodology used in constructing high-resolution terrain databases

NASA Astrophysics Data System (ADS)

Williams, Bryan L.; Wilkosz, Aaron

1998-07-01

This paper presents a top-level description of methods used to generate high-resolution 3D IR digital terrain databases using soft photogrammetry. The 3D IR database is derived from aerial photography and is made up of digital ground plane elevation map, vegetation height elevation map, material classification map, object data (tanks, buildings, etc.), and temperature radiance map. Steps required to generate some of these elements are outlined. The use of metric photogrammetry is discussed in the context of elevation map development; and methods employed to generate the material classification maps are given. The developed databases are used by the US Army Aviation and Missile Command to evaluate the performance of various missile systems. A discussion is also presented on database certification which consists of validation, verification, and accreditation procedures followed to certify that the developed databases give a true representation of the area of interest, and are fully compatible with the targeted digital simulators.

Measurement methods and accuracy analysis of Chang'E-5 Panoramic Camera installation parameters

NASA Astrophysics Data System (ADS)

Yan, Wei; Ren, Xin; Liu, Jianjun; Tan, Xu; Wang, Wenrui; Chen, Wangli; Zhang, Xiaoxia; Li, Chunlai

2016-04-01

Chang'E-5 (CE-5) is a lunar probe for the third phase of China Lunar Exploration Project (CLEP), whose main scientific objectives are to implement lunar surface sampling and to return the samples back to the Earth. To achieve these goals, investigation of lunar surface topography and geological structure within sampling area seems to be extremely important. The Panoramic Camera (PCAM) is one of the payloads mounted on CE-5 lander. It consists of two optical systems which installed on a camera rotating platform. Optical images of sampling area can be obtained by PCAM in the form of a two-dimensional image and a stereo images pair can be formed by left and right PCAM images. Then lunar terrain can be reconstructed based on photogrammetry. Installation parameters of PCAM with respect to CE-5 lander are critical for the calculation of exterior orientation elements (EO) of PCAM images, which is used for lunar terrain reconstruction. In this paper, types of PCAM installation parameters and coordinate systems involved are defined. Measurement methods combining camera images and optical coordinate observations are studied for this work. Then research contents such as observation program and specific solution methods of installation parameters are introduced. Parametric solution accuracy is analyzed according to observations obtained by PCAM scientifically validated experiment, which is used to test the authenticity of PCAM detection process, ground data processing methods, product quality and so on. Analysis results show that the accuracy of the installation parameters affects the positional accuracy of corresponding image points of PCAM stereo images within 1 pixel. So the measurement methods and parameter accuracy studied in this paper meet the needs of engineering and scientific applications. Keywords: Chang'E-5 Mission; Panoramic Camera; Installation Parameters; Total Station; Coordinate Conversion

Ultramap v3 - a Revolution in Aerial Photogrammetry

NASA Astrophysics Data System (ADS)

Reitinger, B.; Sormann, M.; Zebedin, L.; Schachinger, B.; Hoefler, M.; Tomasi, R.; Lamperter, M.; Gruber, B.; Schiester, G.; Kobald, M.; Unger, M.; Klaus, A.; Bernoegger, S.; Karner, K.; Wiechert, A.; Ponticelli, M.; Gruber, M.

2012-07-01

In the last years, Microsoft has driven innovation in the aerial photogrammetry community. Besides the market leading camera technology, UltraMap has grown to an outstanding photogrammetric workflow system which enables users to effectively work with large digital aerial image blocks in a highly automated way. Best example is the project-based color balancing approach which automatically balances images to a homogeneous block. UltraMap V3 continues innovation, and offers a revolution in terms of ortho processing. A fully automated dense matching module strives for high precision digital surface models (DSMs) which are calculated either on CPUs or on GPUs using a distributed processing framework. By applying constrained filtering algorithms, a digital terrain model can be derived which in turn can be used for fully automated traditional ortho texturing. By having the knowledge about the underlying geometry, seamlines can be generated automatically by applying cost functions in order to minimize visual disturbing artifacts. By exploiting the generated DSM information, a DSMOrtho is created using the balanced input images. Again, seamlines are detected automatically resulting in an automatically balanced ortho mosaic. Interactive block-based radiometric adjustments lead to a high quality ortho product based on UltraCam imagery. UltraMap v3 is the first fully integrated and interactive solution for supporting UltraCam images at best in order to deliver DSM and ortho imagery.

Mind of Its Own

NASA Technical Reports Server (NTRS)

2004-01-01

This animation shows the path the Mars Exploration Rover Spirit traveled during its 24-meter (78.7-foot) autonomous drive across the bumpy terrain at Gusev Crater, Mars, on the 39th day, or sol, of its mission. The colored data are from the rover's hazard-avoidance camera and have been reconstructed to show the topography of the land. Red areas indicate extremely hazardous terrain, and green patches denote safe, smooth ground. At the end of its drive, Spirit decided it was safer to back up then go forward. The rover is now positioned directly in front of its target, a rock dubbed Stone Council.

Fretted Terrain Mass Movement

NASA Technical Reports Server (NTRS)

2005-01-01

18 April 2005 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows the results of a small mass movement in a fretted terrain valley in the Coloe Fossae region of Mars (see upper right quarter of the image). The term, mass movement, is usually applied to landslides, although it is unclear in this case whether the landform resulted from a single, catastrophic landslide, or the slow creep of ice-rich debris.

Location near: 35.3oN, 303.1oW Image width: 3 km (1.9 mi) Illumination from: upper left Season: Northern Summer

Compositional variations on Mercury: Results from the Victoria quadrangle

NASA Astrophysics Data System (ADS)

Zambon, Francesca; Carli, Cristian; Galluzzi, Valentina; Capaccioni, Fabrizio; Giacomini, Lorenza; Massironi, Matteo; Palumbo, Pasquale; Cremonese, Gabriele

2017-04-01

Mercury was recently explored by the MESSENGER mission that orbited around the planet from March 2011 until April 2015 allowing a complete coverage of its surface. The Mercury Dual Imaging System (MDIS), mapped the Hermean surface at different spatial resolutions, due to variable altitude of the spacecraft from the surface. MDIS consists of two instruments: a Narrow Angle Camera (NAC) centered at 747nm, which acquired high-resolution images for the geological analysis, and the Wide Angle Camera (WAC), provided with 11 filters dedicated to the compositional analysis, operating in a range of wavelengths between 395 and 1040 nm. Mercury's surface has been divided into 15 quadrangles for mapping purposes. Here, we analyze the results obtained by the color composite mosaic of the quadrangle Victoria (H02) located at longitudes 270 ° - 360 ° E, and latitudes 22.5 ° N - 65 ° N. We produced a color mosaic, by using the images relative to the filters with the best spatial coverage. To obtain the 8-color mosaic of the Victoria quadrangle, we calibrated and georefenced the WAC raw images. Afterwards, we applied the Hapke photometric correction by using the parameters derived by Domingue et al. (2015). We projected and coregistered the data, and finally, we produced the mosaic. To analyze the compositional variations of the Victoria quadrangle, we consider different techniques of analysis, such as specific RGB color combinations and band ratios, which emphasize the different compositional characteristics of the surface. Furthermore, the use of clustering and classification methods allows for recognizing various terrain units, in terms of reflectance and spectral characteristics. In the H02 quadrangle, we observed a dichotomy in the RGB mosaic (R: second principal component (PC2), G: first principal component (PC1), B: 430/1000 nm; see Denevi et al. 2009) between the northern region of the quadrangle, dominated by smooth plains, and the southern part, characterized by intercrater plains. Moreover, we found a variation in terms of spectral slopes and reflectance within specific craters. The application of an unsupervised clustering method, such as the k-mean, to the obtained 8-color mosaic, allowed for identifying terrain units with similar reflectance. The application of this method to selected band ratios (628nm/433nm, 828nm/628nm, 996nm/828nm, 996nm/433nm), emphasizes areas with similar spectral characteristics, such as the Hokusai crater rays. This work, integrated to the 1:3M photo-interpreted geologic maps of Mercury based on MDIS data (Galluzzi et al., 2016), is fundamental for producing a complete and advanced geologic map of Hermean's surface. Moreover, the identification of regions of interest, and specific localized features, is useful to define possible targets for the SIMBIO-SYS instrument onboard the future BepiColombo mission. This work was supported by the Italian Space Agency (ASI) within the SIMBIO-SYS project (ASI-INAF agreement no. I/022/10/0). References: Domingue et al. (2015), Icarus 257, 477-488; Denevi et al. (2009), Science 324 (5927), 613-618; Galluzzi et al. (2016), Journal of Maps 12.

An ice-rich flow origin for the banded terrain in the Hellas basin, Mars

NASA Astrophysics Data System (ADS)

Diot, X.; El-Maarry, M. R.; Guallini, L.; Schlunegger, F.; Norton, K. P.; Thomas, N.; Sutton, S.; Grindrod, P. M.

2015-12-01

The interior of Hellas Basin displays a complex landscape and a variety of geomorphological domains. One of these domains, the enigmatic banded terrain covers much of the northwestern part of the basin. We use high-resolution (Context Camera and High-Resolution Imaging Science Experiment) Digital Terrain Models to show that most of the complex viscous flowing behavior exhibited by the banded terrain is controlled by topography and flow-like interactions between neighboring banded terrain. Furthermore, the interior of the basin hosts several landforms suggestive of the presence of near-surface ice, which include polygonal patterns with elongated pits, scalloped depressions, isolated mounds, and collapse structures. We suggest that thermal contraction cracking and sublimation of near-surface ice are responsible for the formation and the development of most of the ice-related landforms documented in Hellas. The relatively pristine form, lack of superposed craters, and strong association with the banded terrain, suggest an Amazonian (<3 Ga) age of formation for these landforms. Finally, relatively high surface pressures (above the triple point of water) expected in Hellas and summertime temperatures often exceeding the melting point of water ice suggest that the basin may have recorded relatively "temperate" climatic conditions compared to other places on Mars. Therefore, the potentially ice-rich banded terrain may have deformed with lower viscosity and stresses compared to other locations on Mars, which may account for its unique morphology.

Mars Surface Compositional Units and Some Geological Implications from the Mars Express High Resolution Stereo Camera (HRSC)

NASA Astrophysics Data System (ADS)

McCord, T. B.; Combe, J.-P.; Hayne, P. O.

We are investigating the composition of the Martian surface partly by mapping the small spatial variations of water ice and salt minerals using the spectral images provided by the High Resolution Stereo Camera (HRSC). In order to identify the main mineral components, high spectral resolution data from the Observatoire pour la Mineralogie, l'Eau, les Glaces et l'Activite (OMEGA) imaging spectrometer are used. The join analysis of these two dataset makes the most of their respective abilities and, because of that, it requires a close agreement of their calibration [1]. The first part of this work is a comparison of HRSC and OMEGA measurements, exploration of atmosphere effects and checks of calibration. Then, an attempt to detect and map quantitatively at high spatial resolution (1) water ice both at the poles and in equatorial regions and (2) salts minerals is performed by exploring the spectral types evidenced in HRSC color data. For a given region, these two materials do or could represent additional endmember compositional units detectable with HRSC in addition to the basic units so far: 1) dark rock (basalt) and 2) red rock (iron oxide-rich material) [1]. Both materials also have been reported detected by OMEGA, but at much lower spatial resolution than HRSC. An ice mapping of the north polar regions is performed with OMEGA data by using a spectral index calibrated to ice fraction by using a set of linear combinations of various categories of materials with ice. In addition, a linear spectral unmixing model is used on HRSC data. Both ice fraction maps produce similar quantitative results, allowing us to interpret HRSC data at their full spatial resolution. Low-latitude sites are also explored where past but recent glacial activities have been reported as possible evidence of current water-ice. This includes looking for fresh frost and changes with time. The salt detection with HRSC firstly focused on the Candor Chasma area, where salt have been reported by using OMEGA [2]. The present work extends the analysis to other regions in order to constrain better the general geology and climate of Mars. References: [1] McCord T. B., et al. (2006). The Mars Express High Resolution Stereo Camera spectrophotometric data: Characteristics and science analysis, JGR, submitted. [2] Gendrin, A., N. Mangold, J-P. Bibring, Y. Langevin, B. Gondet, F. Poulet, G. Bonello, C. Quantin, J. Mustard, R. Arvidson, S. LeMouelic (2005), Sulfates in Martian layered terrains: The OMEGA/Mars Express View, Science, 307, 1587-1591

Automatic 3D relief acquisition and georeferencing of road sides by low-cost on-motion SfM

NASA Astrophysics Data System (ADS)

Voumard, Jérémie; Bornemann, Perrick; Malet, Jean-Philippe; Derron, Marc-Henri; Jaboyedoff, Michel

2017-04-01

3D terrain relief acquisition is important for a large part of geosciences. Several methods have been developed to digitize terrains, such as total station, LiDAR, GNSS or photogrammetry. To digitize road (or rail tracks) sides on long sections, mobile spatial imaging system or UAV are commonly used. In this project, we compare a still fairly new method -the SfM on-motion technics- with some traditional technics of terrain digitizing (terrestrial laser scanning, traditional SfM, UAS imaging solutions, GNSS surveying systems and total stations). The SfM on-motion technics generates 3D spatial data by photogrammetric processing of images taken from a moving vehicle. Our mobile system consists of six action cameras placed on a vehicle. Four fisheye cameras mounted on a mast on the vehicle roof are placed at 3.2 meters above the ground. Three of them have a GNNS chip providing geotagged images. Two pictures were acquired every second by each camera. 4K resolution fisheye videos were also used to extract 8.3M not geotagged pictures. All these pictures are then processed with the Agisoft PhotoScan Professional software. Results from the SfM on-motion technics are compared with results from classical SfM photogrammetry on a 500 meters long alpine track. They were also compared with mobile laser scanning data on the same road section. First results seem to indicate that slope structures are well observable up to decimetric accuracy. For the georeferencing, the planimetric (XY) accuracy of few meters is much better than the altimetric (Z) accuracy. There is indeed a Z coordinate shift of few tens of meters between GoPro cameras and Garmin camera. This makes necessary to give a greater freedom to altimetric coordinates in the processing software. Benefits of this low-cost SfM on-motion method are: 1) a simple setup to use in the field (easy to switch between vehicle types as car, train, bike, etc.), 2) a low cost and 3) an automatic georeferencing of 3D points clouds. Main disadvantages are: 1) results are less accurate than those from LiDAR system, 2) a heavy images processing and 3) a short distance of acquisition.

Ground Collision Avoidance System (Igcas)

NASA Technical Reports Server (NTRS)

Prosser, Kevin (Inventor); Hook, Loyd (Inventor); Skoog, Mark A (Inventor)

2017-01-01

The present invention is a system and method for aircraft ground collision avoidance (iGCAS) comprising a modular array of software, including a sense own state module configured to gather data to compute trajectory, a sense terrain module including a digital terrain map (DTM) and map manger routine to store and retrieve terrain elevations, a predict collision threat module configured to generate an elevation profile corresponding to the terrain under the trajectory computed by said sense own state module, a predict avoidance trajectory module configured to simulate avoidance maneuvers ahead of the aircraft, a determine need to avoid module configured to determine which avoidance maneuver should be used, when it should be initiated, and when it should be terminated, a notify Module configured to display each maneuver's viability to the pilot by a colored GUI, a pilot controls module configured to turn the system on and off, and an avoid module configured to define how an aircraft will perform avoidance maneuvers through 3-dimensional space.

Mapping Nearby Terrain in 3D by Use of a Grid of Laser Spots

NASA Technical Reports Server (NTRS)

Padgett, Curtis; Liebe, Carl; Chang, Johnny; Brown, Kenneth

2007-01-01

A proposed optoelectronic system, to be mounted aboard an exploratory robotic vehicle, would be used to generate a three-dimensional (3D) map of nearby terrain and obstacles for purposes of navigating the vehicle across the terrain and avoiding the obstacles. The difference between this system and the other systems would lie in the details of implementation. In this system, the illumination would be provided by a laser. The beam from the laser would pass through a two-dimensional diffraction grating, which would divide the beam into multiple beams propagating in different, fixed, known directions. These beams would form a grid of bright spots on the nearby terrain and obstacles. The centroid of each bright spot in the image would be computed. For each such spot, the combination of (1) the centroid, (2) the known direction of the light beam that produced the spot, and (3) the known baseline would constitute sufficient information for calculating the 3D position of the spot.

Mobile Robot Self-Localization by Matching Range Maps Using a Hausdorff Measure

NASA Technical Reports Server (NTRS)

Olson, C. F.

1997-01-01

This paper examines techniques for a mobile robot to perform self-localization in natural terrain by comparing a dense range map computed from stereo imagery to a range map in a known frame of reference.

Map and map database of susceptibility to slope failure by sliding and earthflow in the Oakland area, California

USGS Publications Warehouse

Pike, R.J.; Graymer, R.W.; Roberts, Sebastian; Kalman, N.B.; Sobieszczyk, Steven

2001-01-01

Map data that predict the varying likelihood of landsliding can help public agencies make informed decisions on land use and zoning. This map, prepared in a geographic information system from a statistical model, estimates the relative likelihood of local slopes to fail by two processes common to an area of diverse geology, terrain, and land use centered on metropolitan Oakland. The model combines the following spatial data: (1) 120 bedrock and surficial geologic-map units, (2) ground slope calculated from a 30-m digital elevation model, (3) an inventory of 6,714 old landslide deposits (not distinguished by age or type of movement and excluding debris flows), and (4) the locations of 1,192 post-1970 landslides that damaged the built environment. The resulting index of likelihood, or susceptibility, plotted as a 1:50,000-scale map, is computed as a continuous variable over a large area (872 km2) at a comparatively fine (30 m) resolution. This new model complements landslide inventories by estimating susceptibility between existing landslide deposits, and improves upon prior susceptibility maps by quantifying the degree of susceptibility within those deposits. Susceptibility is defined for each geologic-map unit as the spatial frequency (areal percentage) of terrain occupied by old landslide deposits, adjusted locally by steepness of the topography. Susceptibility of terrain between the old landslide deposits is read directly from a slope histogram for each geologic-map unit, as the percentage (0.00 to 0.90) of 30-m cells in each one-degree slope interval that coincides with the deposits. Susceptibility within landslide deposits (0.00 to 1.33) is this same percentage raised by a multiplier (1.33) derived from the comparative frequency of recent failures within and outside the old deposits. Positive results from two evaluations of the model encourage its extension to the 10-county San Francisco Bay region and elsewhere. A similar map could be prepared for any area where the three basic constituents, a geologic map, a landslide inventory, and a slope map, are available in digital form. Added predictive power of the new susceptibility model may reside in attributes that remain to be explored?among them seismic shaking, distance to nearest road, and terrain elevation, aspect, relief, and curvature.

Camera Control and Geo-Registration for Video Sensor Networks

NASA Astrophysics Data System (ADS)

Davis, James W.

With the use of large video networks, there is a need to coordinate and interpret the video imagery for decision support systems with the goal of reducing the cognitive and perceptual overload of human operators. We present computer vision strategies that enable efficient control and management of cameras to effectively monitor wide-coverage areas, and examine the framework within an actual multi-camera outdoor urban video surveillance network. First, we construct a robust and precise camera control model for commercial pan-tilt-zoom (PTZ) video cameras. In addition to providing a complete functional control mapping for PTZ repositioning, the model can be used to generate wide-view spherical panoramic viewspaces for the cameras. Using the individual camera control models, we next individually map the spherical panoramic viewspace of each camera to a large aerial orthophotograph of the scene. The result provides a unified geo-referenced map representation to permit automatic (and manual) video control and exploitation of cameras in a coordinated manner. The combined framework provides new capabilities for video sensor networks that are of significance and benefit to the broad surveillance/security community.

Geomorphological Mapping of Sputnik Planum and Surrounding Terrain on Pluto

NASA Astrophysics Data System (ADS)

White, Oliver; Stern, Alan; Weaver, Hal; Olkin, Cathy; Ennico, Kimberly; Young, Leslie; Moore, Jeff

2015-11-01

The New Horizons flyby of Pluto in July 2015 has provided the first few close-up images of the Kuiper belt object, which reveal it to have a highly diverse range of terrains, implying a complex geological history. The highest resolution images that have yet been returned are seven lossy 400 m/pixel frames that cover the majority of the prominent Plutonian feature informally named Sputnik Planum (all feature names are currently informal), and its surroundings. This resolution is sufficient to allow detailed geomorphological mapping of this area to commence. Lossless versions of all 15 frames that make up the mosaic will be returned in September 2015, and the map presented at DPS will incorporate the total area covered by these frames.Sputnik Planum, with an area of ~650,000 km2, is notable for its smooth appearance and apparent total lack of impact craters at 400 m/pixel resolution. The Planum actually displays a wide variety of textures across its expanse, which includes smooth and pitted plains to the south, polygonal terrain at its center (the polygons can reach tens of kilometers in size and are bounded by troughs that sometimes feature central ridges), and, to the north, darker polygonal terrain displaying patterns indicative of glacial flow. Within these plains there exist several well-defined outcrops of a mottled, light/dark unit that reach from several to tens of kilometers across. Separating Sputnik Planum from the dark, cratered equatorial terrain of Cthulhu Regio on its south-western margin is a unit of chaotically arranged mountains (Hillary Montes); similar mountainous units exist on the south and western margins. The northern margin is bounded by rugged, hilly, cratered terrain (Cousteau Rupes) into which ice of Sputnik Planum appears to be intruding in places. Terrain of similar relief exists to the east, but is much brighter than that to the north. The southernmost extent of the mosaic features a unit of rough, undulating terrain (Pandemonium Dorsa) that displays very few impact craters at 400 m/pixel resolution.This work was supported by the NASA New Horizons project.

Upwelling Radiance at 976 nm Measured from Space Using a CCD Camera

NASA Technical Reports Server (NTRS)

Biswas, Abhijit; Kovalik, Joseph M.; Oaida, Bogdan V.; Abrahamson, Matthew J.; Wright, Malcolm W.

2015-01-01

The Optical Payload for Lasercomm Science (OPALS) Flight System on-board the International Space Station uses a charge coupled device (CCD) camera for receiving a beacon laser from Earth. Relative measurements of the background contributed by upwelling radiance under diverse illumination conditions and varying terrain is presented. In some cases clouds in the field-of-view allowed a comparison of terrestrial and cloud-top upwelling radiance. In this paper we will report these measurements and examine the extent of agreement with atmospheric model predictions.

The new Mars: The discoveries of Mariner 9

NASA Technical Reports Server (NTRS)

Hartmann, W. K.; Raper, O.

1974-01-01

The Mariner 9 encounter with Mars is extensively documented with photographs taken by the satellite's onboard cameras, and an attempt is made to explain the observed Martian topography in terms of what is known about the geomorphological evolution of the earth. Early conceptions about the Mars surface are compared with more recent data made available by the Mariner 9 cameras. Other features of the planet Mars which are specifically discussed include the volcanic regions, the surface channels, the polar caps and layered terrain, the Martian atmosphere, and the planet's two moons--Phobos and Deimos.

Terrain Correction on the moving equal area cylindrical map projection of the surface of a reference ellipsoid

NASA Astrophysics Data System (ADS)

Ardalan, A.; Safari, A.; Grafarend, E.

2003-04-01

An operational algorithm for computing the ellipsoidal terrain correction based on application of closed form solution of the Newton integral in terms of Cartesian coordinates in the cylindrical equal area map projected surface of a reference ellipsoid has been developed. As the first step the mapping of the points on the surface of a reference ellipsoid onto the cylindrical equal area map projection of a cylinder tangent to a point on the surface of reference ellipsoid closely studied and the map projection formulas are computed. Ellipsoidal mass elements with various sizes on the surface of the reference ellipsoid is considered and the gravitational potential and the vector of gravitational intensity of these mass elements has been computed via the solution of Newton integral in terms of ellipsoidal coordinates. The geographical cross section areas of the selected ellipsoidal mass elements are transferred into cylindrical equal area map projection and based on the transformed area elements Cartesian mass elements with the same height as that of the ellipsoidal mass elements are constructed. Using the close form solution of the Newton integral in terms of Cartesian coordinates the potential of the Cartesian mass elements are computed and compared with the same results based on the application of the ellipsoidal Newton integral over the ellipsoidal mass elements. The results of the numerical computations show that difference between computed gravitational potential of the ellipsoidal mass elements and Cartesian mass element in the cylindrical equal area map projection is of the order of 1.6 × 10-8m^2/s^2 for a mass element with the cross section size of 10 km × 10 km and the height of 1000 m. For a 1 km × 1 km mass element with the same height, this difference is less than 1.5 × 10-4 m^2}/s^2. The results of the numerical computations indicate that a new method for computing the terrain correction based on the closed form solution of the Newton integral in terms of Cartesian coordinates and with accuracy of ellipsoidal terrain correction has been achieved! In this way one can enjoy the simplicity of the solution of the Newton integral in terms of Cartesian coordinates and at the same time the accuracy of the ellipsoidal terrain correction, which is needed for the modern theory of geoid computations.

Visualizing UAS-collected imagery using augmented reality

NASA Astrophysics Data System (ADS)

Conover, Damon M.; Beidleman, Brittany; McAlinden, Ryan; Borel-Donohue, Christoph C.

2017-05-01

One of the areas where augmented reality will have an impact is in the visualization of 3-D data. 3-D data has traditionally been viewed on a 2-D screen, which has limited its utility. Augmented reality head-mounted displays, such as the Microsoft HoloLens, make it possible to view 3-D data overlaid on the real world. This allows a user to view and interact with the data in ways similar to how they would interact with a physical 3-D object, such as moving, rotating, or walking around it. A type of 3-D data that is particularly useful for military applications is geo-specific 3-D terrain data, and the visualization of this data is critical for training, mission planning, intelligence, and improved situational awareness. Advances in Unmanned Aerial Systems (UAS), photogrammetry software, and rendering hardware have drastically reduced the technological and financial obstacles in collecting aerial imagery and in generating 3-D terrain maps from that imagery. Because of this, there is an increased need to develop new tools for the exploitation of 3-D data. We will demonstrate how the HoloLens can be used as a tool for visualizing 3-D terrain data. We will describe: 1) how UAScollected imagery is used to create 3-D terrain maps, 2) how those maps are deployed to the HoloLens, 3) how a user can view and manipulate the maps, and 4) how multiple users can view the same virtual 3-D object at the same time.

Martian Terrain Near Curiosity Precipice Target

NASA Image and Video Library

2016-12-06

This view from the Navigation Camera (Navcam) on the mast of NASA's Curiosity Mars rover shows rocky ground within view while the rover was working at an intended drilling site called "Precipice" on lower Mount Sharp. The right-eye camera of the stereo Navcam took this image on Dec. 2, 2016, during the 1,537th Martian day, or sol, of Curiosity's work on Mars. On the previous sol, an attempt to collect a rock-powder sample with the rover's drill ended before drilling began. This led to several days of diagnostic work while the rover remained in place, during which it continued to use cameras and a spectrometer on its mast, plus environmental monitoring instruments. In this view, hardware visible at lower right includes the sundial-theme calibration target for Curiosity's Mast Camera. http://photojournal.jpl.nasa.gov/catalog/PIA21140

Mapping and localization for extraterrestrial robotic explorations

NASA Astrophysics Data System (ADS)

Xu, Fengliang

In the exploration of an extraterrestrial environment such as Mars, orbital data, such as high-resolution imagery Mars Orbital Camera-Narrow Angle (MOC-NA), laser ranging data Mars Orbital Laser Altimeter (MOLA), and multi-spectral imagery Thermal Emission Imaging System (THEMIS), play more and more important roles. However, these remote sensing techniques can never replace the role of landers and rovers, which can provide a close up and inside view. Similarly, orbital mapping can not compete with ground-level close-range mapping in resolution, precision, and speed. This dissertation addresses two tasks related to robotic extraterrestrial exploration: mapping and rover localization. Image registration is also discussed as an important aspect for both of them. Techniques from computer vision and photogrammetry are applied for automation and precision. Image registration is classified into three sub-categories: intra-stereo, inter-stereo, and cross-site, according to the relationship between stereo images. In the intra-stereo registration, which is the most fundamental sub-category, interest point-based registration and verification by parallax continuity in the principal direction are proposed. Two other techniques, inter-scanline search with constrained dynamic programming for far range matching and Markov Random Field (MRF) based registration for big terrain variation, are explored as possible improvements. Creating using rover ground images mainly involves the generation of Digital Terrain Model (DTM) and ortho-rectified map (orthomap). The first task is to derive the spatial distribution statistics from the first panorama and model the DTM with a dual polynomial model. This model is used for interpolation of the DTM, using Kriging in the close range and Triangular Irregular Network (TIN) in the far range. To generate a uniformly illuminated orthomap from the DTM, a least-squares-based automatic intensity balancing method is proposed. Finally a seamless orthomap is constructed by a split-and-merge technique: the mapped area is split or subdivided into small regions of image overlap, and then each small map piece was processed and all of the pieces are merged together to form a seamless map. Rover localization has three stages, all of which use a least-squares adjustment procedure: (1) an initial localization which is accomplished by adjustment over features common to rover images and orbital images, (2) an adjustment of image pointing angles at a single site through inter and intra-stereo tie points, and (3) an adjustment of the rover traverse through manual cross-site tie points. The first stage is based on adjustment of observation angles of features. The second stage and third stage are based on bundle-adjustment. In the third-stage an incremental adjustment method was proposed. Automation in rover localization includes automatic intra/inter-stereo tie point selection, computer-assisted cross-site tie point selection, and automatic verification of accuracy. (Abstract shortened by UMI.)

Martian 'Spiders' in Sharper Look, Thanks to Volunteers

NASA Image and Video Library

2016-10-20

This image shows spidery channels eroded into Martian ground. It is an example from high-resolution observation of more than 20 places that were chosen in 2016 on the basis of about 10,000 volunteers' examination of lower-resolution images of larger areas near Mars' south pole. These sharper looks use the High Resolution Imaging Science Experiment (HiRISE) camera on NASA's Mars Reconnaissance Orbiter. The volunteers, through the Planet Four: Terrains website, categorize surface features in images from the same orbiter's Context Camera (CTX). This image is a portion of HiRISE observation ESP_047487_1005, taken on Sept. 12, 2016, of a site at 79.4 degrees south latitude, 18.8 degrees east longitude. The ground area shown is about half a mile (0.8 kilometer) wide. This terrain type, called spiders or "araneiform" (from the Latin word for spiders), appears in some areas of far-southern Mars that are covered by sheets of frozen carbon dioxide ("dry ice") during the winter. When the slab ice thaws from the underneath side in the spring, carbon dioxide gas trapped beneath the ice builds pressure until it rushes toward a fissure or vent where it bursts out. The venting gas carries dust and sand that it picks up as it carves these channels. At this location, the spiders are surrounded by ground called "basketball terrain" because of its texture. http://photojournal.jpl.nasa.gov/catalog/PIA21126

The imaging system design of three-line LMCCD mapping camera

NASA Astrophysics Data System (ADS)

Zhou, Huai-de; Liu, Jin-Guo; Wu, Xing-Xing; Lv, Shi-Liang; Zhao, Ying; Yu, Da

2011-08-01

In this paper, the authors introduced the theory about LMCCD (line-matrix CCD) mapping camera firstly. On top of the introduction were consists of the imaging system of LMCCD mapping camera. Secondly, some pivotal designs which were Introduced about the imaging system, such as the design of focal plane module, the video signal's procession, the controller's design of the imaging system, synchronous photography about forward and nadir and backward camera and the nadir camera of line-matrix CCD. At last, the test results of LMCCD mapping camera imaging system were introduced. The results as following: the precision of synchronous photography about forward and nadir and backward camera is better than 4 ns and the nadir camera of line-matrix CCD is better than 4 ns too; the photography interval of line-matrix CCD of the nadir camera can satisfy the butter requirements of LMCCD focal plane module; the SNR tested in laboratory is better than 95 under typical working condition(the solar incidence degree is 30, the reflectivity of the earth's surface is 0.3) of each CCD image; the temperature of the focal plane module is controlled under 30° in a working period of 15 minutes. All of these results can satisfy the requirements about the synchronous photography, the temperature control of focal plane module and SNR, Which give the guarantee of precision for satellite photogrammetry.

Coregistration of high-resolution Mars orbital images

NASA Astrophysics Data System (ADS)

Sidiropoulos, Panagiotis; Muller, Jan-Peter

2015-04-01

The systematic orbital imaging of the Martian surface started 4 decades ago from NASA's Viking Orbiter 1 & 2 missions, which were launched in August 1975, and acquired orbital images of the planet between 1976 and 1980. The result of this reconnaissance was the first medium-resolution (i.e. ≤ 300m/pixel) global map of Mars, as well as a variety of high-resolution images (reaching up to 8m/pixel) of special regions of interest. Over the last two decades NASA has sent 3 more spacecraft with onboard instruments for high-resolution orbital imaging: Mars Global Surveyor (MGS) having onboard the Mars Orbital Camera - Narrow Angle (MOC-NA), Mars Odyssey having onboard the Thermal Emission Imaging System - Visual (THEMIS-VIS) and the Mars Reconnaissance Orbiter (MRO) having on board two distinct high-resolution cameras, Context Camera (CTX) and High-Resolution Imaging Science Experiment (HiRISE). Moreover, ESA has the multispectral High resolution Stereo Camera (HRSC) onboard ESA's Mars Express with resolution up to 12.5m since 2004. Overall, this set of cameras have acquired more than 400,000 high-resolution images, i.e. with resolution better than 100m and as fine as 25 cm/pixel. Notwithstanding the high spatial resolution of the available NASA orbital products, their accuracy of areo-referencing is often very poor. As a matter of fact, due to pointing inconsistencies, usually form errors in roll attitude, the acquired products may actually image areas tens of kilometers far away from the point that they are supposed to be looking at. On the other hand, since 2004, the ESA Mars Express has been acquiring stereo images through the High Resolution Stereo Camera (HRSC), with resolution that is usually 12.5-25 metres per pixel. The achieved coverage is more than 64% for images with resolution finer than 20 m/pixel, while for ~40% of Mars, Digital Terrain Models (DTMs) have been produced with are co-registered with MOLA [Gwinner et al., 2010]. The HRSC images and DTMs represent the best available 3D reference frame for Mars showing co-registration with MOLA<25m (loc.cit.). In our work, the reference generated by HRSC terrain corrected orthorectified images is used as a common reference frame to co-register all available high-resolution orbital NASA products into a common 3D coordinate system, thus allowing the examination of the changes that happen on the surface of Mars over time (such as seasonal flows [McEwen et al., 2011] or new impact craters [Byrne, et al., 2009]). In order to accomplish such a tedious manual task, we have developed an automatic co-registration pipeline that produces orthorectified versions of the NASA images in realistic time (i.e. from ~15 minutes to 10 hours per image depending on size). In the first step of this pipeline, tie-points are extracted from the target NASA image and the reference HRSC image or image mosaic. Subsequently, the HRSC areo-reference information is used to transform the HRSC tie-points pixel coordinates into 3D "world" coordinates. This way, a correspondence between the pixel coordinates of the target NASA image and the 3D "world" coordinates is established for each tie-point. This set of correspondences is used to estimate a non-rigid, 3D to 2D transformation model, which transforms the target image into the HRSC reference coordinate system. Finally, correlation of the transformed target image and the HRSC image is employed to fine-tune the orthorectification results, thus generating results with sub-pixel accuracy. This method, which has been proven to be accurate, robust to resolution differences and reliable when dealing with partially degraded data and fast, will be presented, along with some example co-registration results that have been achieved by using it. Acknowledgements: The research leading to these results has received partial funding from the STFC "MSSL Consolidated Grant" ST/K000977/1 and partial support from the European Union's Seventh Framework Programme (FP7/2007-2013) under iMars grant agreement n° 607379. References: [1] K. F. Gwinner, et al. (2010) Topography of Mars from global mapping by HRSC high-resolution digital terrain models and orthoimages: characteristics and performance. Earth and Planetary Science Letters 294, 506-519, doi:10.1016/j.epsl.2009.11.007. [2] A. McEwen, et al. (2011) Seasonal flows on warm martian slopes. Science , 333 (6043): 740-743. [3] S. Byrne, et al. (2009) Distribution of mid-latitude ground ice on mars from new impact craters. Science, 325(5948):1674-1676.

Self Consistent Bathymetric Mapping Using Sub-maps: Survey Results From the TAG Hydrothermal Structure

NASA Astrophysics Data System (ADS)

Roman, C. N.; Reves-Sohn, R.; Singh, H.; Humphris, S.

2005-12-01

The spatial resolution of microbathymetry maps created using robotic vehicles such as ROVs, AUVs and manned submersibles in the deep ocean is currently limited by the accuracy of the vehicle navigation data. Errors in the vehicle position estimate commonly exceed the ranging errors of the acoustic mapping sensor itself, which creates inconsistency in the map making process and produces artifacts that lower resolution and distort map integrity. We present a methodology for producing self-consistent maps and improving vehicle position estimation by exploiting accurate local navigation and utilizing terrain relative measurements. The complete map is broken down into individual "sub-maps'', which are generated using short term Doppler based navigation. The sub-maps are pairwise registered to constrain the vehicle position estimates by matching terrain that has been imaged multiple times. This procedure is implemented using a delayed state Kalman filter to incorporate the sub-map registrations as relative position measurements between previously visited vehicle locations. Archiving of previous positions in a filter state vector allows for continual adjustment of the sub-map locations. The terrain registration is accomplished using a two dimensional correlation and a six degree of freedom point cloud alignment method tailored to bathymetric data. This registration procedure is applicable to fully 3 dimensional complex underwater environments. The complete bathymetric map is then created from the union of all sub-maps that have been aligned in a consistent manner. The method is applied to an SM2000 multibeam survey of the TAG hydrothermal structure on the Mid-Atlantic Ridge at 26(°)N using the Jason II ROV. The survey included numerous crossing tracklines designed to test this algorithm, and the final gridded bathymetry data is sub-meter accurate. The high-resolution map has allowed for the identification of previously unrecognized fracture patterns associated with flow focusing at TAG, as well as imaging of fine-scale features such as individual sulfide talus blocks and ODP re-entry cones.

Urban Terrain Modeling for Augmented Reality Applications

DTIC Science & Technology

2001-01-01

pointing ( Maybank -92). Almost all such systems are designed to extract the geometry of buildings and to texture these to provide models that can be... Maybank , S. and Faugeras, O. (1992). A Theory of Self-Calibration of a Moving Camera, International Journal of Computer Vision, 8(2):123-151

Preliminary geological mapping of Io

NASA Technical Reports Server (NTRS)

Masursky, H.; Schaber, G. G.; Soderblom, L. A.; Strom, R. G.

1979-01-01

A preliminary summary of information gained by Voyager 1 on the colored, terrain and landform surface units of Io and their global distribution is presented. Colored units are classified as white to bluish-white regions which may be sulfur or sulfur dioxide deposits, red, orange, or yellow regions thought to contain various sublimates or alterations of sulfur, brownish regions limited to the polar areas and dark brown areas surrounding some vents. Terrain features observed include plains broken by scarps, isolated mountainous regions and volcanic vents resembling terrestrial caldera or pit craters. Maps of the distribution of these features, compiled by photogeological mapping techniques developed for terrestrial volcanic mapping, are presented, and the implications of the surface unit distributions for the volcanology, crustal composition, internal convection patterns and surface age of Io are discussed.

Cognitive Processes in Orienteering: A Review.

ERIC Educational Resources Information Center

Seiler, Roland

1996-01-01

Reviews recent research on information processing and decision making in orienteering. The main cognitive demands investigated were selection of relevant map information for route choice, comparison between map and terrain in map reading and in relocation, and quick awareness of mistakes. Presents a model of map reading based on results. Contains…

User guide for the USGS aerial camera Report of Calibration.

USGS Publications Warehouse

Tayman, W.P.

1984-01-01

Calibration and testing of aerial mapping cameras includes the measurement of optical constants and the check for proper functioning of a number of complicated mechanical and electrical parts. For this purpose the US Geological Survey performs an operational type photographic calibration. This paper is not strictly a scientific paper but rather a 'user guide' to the USGS Report of Calibration of an aerial mapping camera for compliance with both Federal and State mapping specifications. -Author

EVA Robotic Assistant Project: Platform Attitude Prediction

NASA Technical Reports Server (NTRS)

Nickels, Kevin M.

2003-01-01

The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

Preliminary Geological Map of the Ac-H-5 Fejokoo Quadrangle of Ceres: An Integrated Mapping Study Using Dawn Spacecraft Data

NASA Astrophysics Data System (ADS)

Hughson, K.; Russell, C.; Williams, D. A.; Buczkowski, D.; Mest, S. C.; Scully, J. E. C.; Hiesinger, H.; Platz, T.; Ruesch, O.; Schenk, P.; Frigeri, A.; Jaumann, R.; Roatsch, T.; Preusker, F.; Nathues, A.; Hoffmann, M.; Schäfer, M.; Park, R. S.; Marchi, S.; De Sanctis, M. C.; Raymond, C. A.

2015-12-01

In order to enable methodical geologic mapping of the surface of Ceres the Dawn Science Team divided its surface into fifteen quadrangles. A preliminary map of the Fejokoo quadrangle is presented here. This region, located between 21˚-66˚N and 270-0˚E, hosts four primary features: (1) the centrally located, 90 km diameter, distinctly hexagonal impact crater Fejokoo; (2) a small unnamed crater midway up the eastern boundary of the quadrangle which contains and is surrounded by bright material; (3) an unnamed degraded crater NW of Fejokoo that contains lobate material deposits on both sides of the crater's S rim; and (4) a heavily cratered unit in the NW portion of the quadrangle. Key objectives for the ongoing mapping of this quadrangle are to assess the types of processes that may be responsible for the creation of the hexagonal Fejokoo crater, identifying the source and nature of the bright material on the eastern boundary, establishing possible mechanisms for the emplacement of lobate material deposits in Fejokoo and the unnamed crater to its NW, and establishing a detailed geological history of the quadrangle. The Fejokoo region is not associated with any major albedo feature identified by the Hubble Space Telescope (Li et al., 2006). At the time of this writing geologic mapping was performed using Framing Camera (FC) mosaics from the Approach (1.3 km/px) and Survey (415 m/px) orbits, including grayscale and color images and digital terrain models derived from stereo images. Future images from the High Altitude Mapping Orbit (140 m/px) and Low Altitude Mapping Orbit (35 m/px) will be used to refine the maps. Support of the Dawn Instrument, Operations, and Science Teams is acknowledged. This work is supported by grants from NASA, and from the German and Italian Space Agencies.

Geomorphological and Spectrophotometric Study of Philae Landing Site A

NASA Astrophysics Data System (ADS)

Pajola, M.; La Forgia, F.; Giacomini, L.; Oklay, N.; Massironi, M.; Bertini, I.; Simioni, E.; Marzari, F.; Barbieri, C.; Naletto, G.; Groussin, O.; Lazzarin, M.; Scholten, F.; Preusker, F.; Fornasier, S.; Vincent, J. B.; Sierks, H.

2015-10-01

On August 6, 2014, the European Space Agency's Rosetta spacecraft started orbiting the Jupiter family comet 67P/Churyumov-Gerasimenko (hereafter 67P). Afterwards, the OSIRIS instrument (Optical, Spectroscopic and Infrared Remote Imaging System [1]), got the highest-resolution-ever images of a cometary nucleus, reaching the unprecedented scale of 50 cm/px. A brief description of OSIRIS early analysis on the nucleus structure and activity of 67P is available in [2]. Despite its small dimensions, #4 km diameter, 67P shows a morphological diversity that is still puzzling the cometary community: boulders [3], highreflectivity particle clusters [4], local fracturing [5], pits [6], as well as dust covered terrains [7], are only few examples that can be found on 67P. Since the Rosetta arrival, an extremely detailed analysis of 67P surface has been performed to select five different landing sites candidates for the lander Philae. By using the OSIRIS images the comet shape model [8] has been produced to study the slope constraints, as well as the identification and measurements of boulders and production of hazard maps of the landing spots [3]. A final landing site, called Agilkia and located on the smaller lobe of the comet, was announced on October 15, 2014. Here, Philae, on November 12, 2014, made its historic comet touchdown [9]. Despite its unique scientific potential, one of the five finalists, called "site A", was avoided due to higher risks with respect to Agilkia, during both the landing phase and the surface operations. This area is located on the bigger lobe of the comet, on the Seth region [10] facing the Hathor cliff. Site A (Fig. 1) is close to the 'neck' region, i.e. the connecting bridge between the two lobes, where the main dust jet activity has been observed since the Rosetta arrival. This area is the biggest terrace of Seth region, delimited in the upper part by a steep wall showing multiple niches, strata heads and smaller terraces. Moreover, between the 5 finalists, this site has the unique value to provide detailed analysis of the multiple fractures present on its cliff and on the neighboring Hathor. Figure 1: Site A as imaged by the OSIRIS NAC camera on 6 August 2014 at 02:20:12 UT. The distance from the comet center is 117.24 km, the scale is 2.17 m/px. EPSC Abstracts Vol. 10, EPSC2015-526, 2015 European Planetary Science Congress 2015 c Author(s) 2015 EPSC European Planetary Science Congress We here present the geomorphological map coupled with the size-frequency distributions of boulders # 2 m located on the different types of terrains here identified, such as outcropping layered terrains, gravitational accumulation deposits, taluses and fine particle deposits. Gravitational slopes, derived through the 67P shape model by assuming uniform density, have been used to characterize and better interpret the various terrains. Moreover, we show the spectrophotometric properties of the area, studied through images taken by OSIRIS NAC with a scale of 50 cm/px. Albedo maps, as well as surface reflectance spectra have been obtained by taking advantage of the shape model and DTM in order to correct for the illumination and observing conditions of the terrain. This multidisciplinary analysis highlights that different types of deposits show different photometric properties.

Terrain types and local-scale stratigraphy of grooved terrain on ganymede

NASA Technical Reports Server (NTRS)

Murchie, Scott L.; Head, James W.; Helfenstein, Paul; Plescia, Jeffrey B.

1986-01-01

Grooved terrain is subdivided on the basis of pervasive morphology into: (1) groove lanes - elongate parallel groove bands, (2) grooved polygons - polygonal domains of parallel grooves, (3) reticulate terrain - polygonal domains of orthogonal grooves, and (4) complex grooved terrain - polygons with several complexly cross-cutting groove sets. Detailed geologic mapping of select areas, employing previously established conventions for determining relative age relations, reveals a general three-stage sequence of grooved terrain emplacement: first, dissection of the lithosphere by throughgoing grooves, and pervasive deformation of intervening blocks; second, extensive flooding and continued deformation of the intervening blocks; third, repeated superposition of groove lanes concentrated at sites of initial throughgoing grooves. This sequence is corroborated by crater-density measurements. Dominant orientations of groove sets are parallel to relict zones of weakness that probably were reactivated during grooved terrain formation. Groove lane morphology and development consistent with that predicted for passive rifts suggests a major role of global expansion in grooved terrain formation.

Shape and Albedo from Shading (SAfS) for Pixel-Level dem Generation from Monocular Images Constrained by Low-Resolution dem

NASA Astrophysics Data System (ADS)

Wu, Bo; Chung Liu, Wai; Grumpe, Arne; Wöhler, Christian

2016-06-01

Lunar topographic information, e.g., lunar DEM (Digital Elevation Model), is very important for lunar exploration missions and scientific research. Lunar DEMs are typically generated from photogrammetric image processing or laser altimetry, of which photogrammetric methods require multiple stereo images of an area. DEMs generated from these methods are usually achieved by various interpolation techniques, leading to interpolation artifacts in the resulting DEM. On the other hand, photometric shape reconstruction, e.g., SfS (Shape from Shading), extensively studied in the field of Computer Vision has been introduced to pixel-level resolution DEM refinement. SfS methods have the ability to reconstruct pixel-wise terrain details that explain a given image of the terrain. If the terrain and its corresponding pixel-wise albedo were to be estimated simultaneously, this is a SAfS (Shape and Albedo from Shading) problem and it will be under-determined without additional information. Previous works show strong statistical regularities in albedo of natural objects, and this is even more logically valid in the case of lunar surface due to its lower surface albedo complexity than the Earth. In this paper we suggest a method that refines a lower-resolution DEM to pixel-level resolution given a monocular image of the coverage with known light source, at the same time we also estimate the corresponding pixel-wise albedo map. We regulate the behaviour of albedo and shape such that the optimized terrain and albedo are the likely solutions that explain the corresponding image. The parameters in the approach are optimized through a kernel-based relaxation framework to gain computational advantages. In this research we experimentally employ the Lunar-Lambertian model for reflectance modelling; the framework of the algorithm is expected to be independent of a specific reflectance model. Experiments are carried out using the monocular images from Lunar Reconnaissance Orbiter (LRO) Narrow Angle Camera (NAC) (0.5 m spatial resolution), constrained by the SELENE and LRO Elevation Model (SLDEM 2015) of 60 m spatial resolution. The results indicate that local details are largely recovered by the algorithm while low frequency topographic consistency is affected by the low-resolution DEM.

LOD-based clustering techniques for efficient large-scale terrain storage and visualization

NASA Astrophysics Data System (ADS)

Bao, Xiaohong; Pajarola, Renato

2003-05-01

Large multi-resolution terrain data sets are usually stored out-of-core. To visualize terrain data at interactive frame rates, the data needs to be organized on disk, loaded into main memory part by part, then rendered efficiently. Many main-memory algorithms have been proposed for efficient vertex selection and mesh construction. Organization of terrain data on disk is quite difficult because the error, the triangulation dependency and the spatial location of each vertex all need to be considered. Previous terrain clustering algorithms did not consider the per-vertex approximation error of individual terrain data sets. Therefore, the vertex sequences on disk are exactly the same for any terrain. In this paper, we propose a novel clustering algorithm which introduces the level-of-detail (LOD) information to terrain data organization to map multi-resolution terrain data to external memory. In our approach the LOD parameters of the terrain elevation points are reflected during clustering. The experiments show that dynamic loading and paging of terrain data at varying LOD is very efficient and minimizes page faults. Additionally, the preprocessing of this algorithm is very fast and works from out-of-core.

Baseline Design and Performance Analysis of Laser Altimeter for Korean Lunar Orbiter

NASA Astrophysics Data System (ADS)

Lim, Hyung-Chul; Neumann, Gregory A.; Choi, Myeong-Hwan; Yu, Sung-Yeol; Bang, Seong-Cheol; Ka, Neung-Hyun; Park, Jong-Uk; Choi, Man-Soo; Park, Eunseo

2016-09-01

Korea’s lunar exploration project includes the launching of an orbiter, a lander (including a rover), and an experimental orbiter (referred to as a lunar pathfinder). Laser altimeters have played an important scientific role in lunar, planetary, and asteroid exploration missions since their first use in 1971 onboard the Apollo 15 mission to the Moon. In this study, a laser altimeter was proposed as a scientific instrument for the Korean lunar orbiter, which will be launched by 2020, to study the global topography of the surface of the Moon and its gravitational field and to support other payloads such as a terrain mapping camera or spectral imager. This study presents the baseline design and performance model for the proposed laser altimeter. Additionally, the study discusses the expected performance based on numerical simulation results. The simulation results indicate that the design of system parameters satisfies performance requirements with respect to detection probability and range error even under unfavorable conditions.

Dark, Recurring Streaks on Walls of Garni Crater

NASA Image and Video Library

2015-09-28

Dark narrow streaks, called "recurring slope lineae," emanate from the walls of Garni Crater on Mars, in this view constructed from observations by the High Resolution Imaging Science Experiment (HiRISE) camera on NASA's Mars Reconnaissance Orbiter. The dark streaks here are up to few hundred yards, or meters, long. They are hypothesized to be formed by flow of briny liquid water on Mars. The image was produced by first creating a 3-D computer model (a digital terrain map) of the area based on stereo information from two HiRISE observations, and then draping an image over the land-shape model. The vertical dimension is exaggerated by a factor of 1.5 compared to horizontal dimensions. The draped image is a red waveband (monochrome) product from HiRISE observation ESP_031059_1685, taken on March 12, 2013 at 11.5 degrees south latitude, 290.3 degrees east longitude. Other image products from this observation are at http://hirise.lpl.arizona.edu/ESP_031059_1685. http://photojournal.jpl.nasa.gov/catalog/PIA19917

UAV-based mapping, back analysis and trajectory modeling of a coseismic rockfall in Lefkada island, Greece

NASA Astrophysics Data System (ADS)

Saroglou, Charalampos; Asteriou, Pavlos; Zekkos, Dimitrios; Tsiambaos, George; Clark, Marin; Manousakis, John

2018-01-01

We present field evidence and a kinematic study of a rock block mobilized in the Ponti area by a Mw = 6.5 earthquake near the island of Lefkada on 17 November 2015. A detailed survey was conducted using an unmanned aerial vehicle (UAV) with an ultrahigh definition (UHD) camera, which produced a high-resolution orthophoto and a digital terrain model (DTM). The sequence of impact marks from the rock trajectory on the ground surface was identified from the orthophoto and field verified. Earthquake characteristics were used to estimate the acceleration of the rock slope and the initial condition of the detached block. Using the impact points from the measured rockfall trajectory, an analytical reconstruction of the trajectory was undertaken, which led to insights on the coefficients of restitution (CORs). The measured trajectory was compared with modeled rockfall trajectories using recommended parameters. However, the actual trajectory could not be accurately predicted, revealing limitations of existing rockfall analysis software used in engineering practice.

Frost-free North Polar Layers in the Good Old Summertime

NASA Technical Reports Server (NTRS)

2006-01-01

17 October 2006 The middle portion of the northern summer season is the ideal time of year to capture relatively dust- and haze-free views of martian north polar terrain. This year, much more of the north polar cap has sublimed away than has been evident in previous northern summers going back to 1999, when Mars Global Surveyor (MGS) began the Mapping Phase of the mission. This MGS Mars Orbiter Camera (MOC) image shows a nearly ice-free view of layers exposed by erosion in the north polar region. The light-toned patches are remnants of water ice frost. The layers are generally considered by the Mars scientific community to be record of past depositions of ice and dust. This picture is located near 82.5oN, 118.6oW, and covers an area about 3 km by 10 km (1.9 by 6.2 miles). Sunlight illuminates the scene from the upper left; the image was acquired on 22 September 2006.

High-Resolution Topomapping of Mars: Life After MER Site Selection

NASA Technical Reports Server (NTRS)

Kirk, R. L.; Howington-Kraus, E.; Hare, T. M.; Soricone, R.; Ross, K.; Weller, L.; Rosiek, M.; Redding, B.; Galuszka, D.; Haldemann, A. F. C.

2004-01-01

In this abstract we describe our ongoing use of high-resolution images from the Mars Global Surveyor Mars Orbiter Camera Narrow-Angle subsystem (MGS MOC-NA) to derive quantitative topographic and slope data for the martian surface at 3 - 10-m resolution. Our efforts over the past several years focused on assessment of candidate landing sites for the Mars Exploration Rovers (MER) and culminated in the selection of sites in Gusev crater and Meridiani Planum as safe as well as scientifically compelling. As of this writing, MER-A (Spirit) has landed safely in Gusev and we are performing a limited amount of additional mapping near the landing point to support localization of the lander and rover operations planning. The primary focus of our work, however, has been extending our techniques to sample a variety of geologic terrains planetwide to support both a variety of geoscientific studies and planning and data analysis for missions such as Mars Express, Mars Reconnaissance Orbiter, and Phoenix.

The suitability of lightfield camera depth maps for coordinate measurement applications

NASA Astrophysics Data System (ADS)

Rangappa, Shreedhar; Tailor, Mitul; Petzing, Jon; Kinnell, Peter; Jackson, Michael

2015-12-01

Plenoptic cameras can capture 3D information in one exposure without the need for structured illumination, allowing grey scale depth maps of the captured image to be created. The Lytro, a consumer grade plenoptic camera, provides a cost effective method of measuring depth of multiple objects under controlled lightning conditions. In this research, camera control variables, environmental sensitivity, image distortion characteristics, and the effective working range of two Lytro first generation cameras were evaluated. In addition, a calibration process has been created, for the Lytro cameras, to deliver three dimensional output depth maps represented in SI units (metre). The novel results show depth accuracy and repeatability of +10.0 mm to -20.0 mm, and 0.5 mm respectively. For the lateral X and Y coordinates, the accuracy was +1.56 μm to -2.59 μm and the repeatability was 0.25 μm.

Terrain Models in Field Geology Courses.

ERIC Educational Resources Information Center

Whittecar, G. Richard

1984-01-01

Describes a terrain model for geologic mapping which, when combined with exercises in rock description, Brunton compass manipulation, orienteering, and geologic report writing, allows students to refine skills needed for summer field camp. Advantages and limitations of the model and its use in a field course are also discussed. (BC)

Northeast Artificial Intelligence Consortium Annual Report 1986. Volume 5. Building an Intelligent Assistant: The Acquisition, Integration, and Maintenance of Complex Distributed Tasks

DTIC Science & Technology

1988-06-01

extraction nets. TerrainMaps: Tools for physical and pseudo-physical molding and growing of features on terrain and thematic maps. 5-13 + ,m , mmmmmm mmmmm...ok 1) the student neem confused, and 2) the teot for wroag-answerstshold is met Recognizing a confused tudent is admittedly a mabjective and imprecise...you know that GRADE in iine 9 is a control variable? Student: Yes 2. Tutor: OIL What i the value of GRADE at anytime during loop execution? Studam

Skylab-EREP studies in computer mapping of terrain in the Cripple Creek-Canon City area of Colorado

NASA Technical Reports Server (NTRS)

Smedes, H. W.; Ranson, K. J.; Holstrom, R. L.

1975-01-01

Multispectral-scanner data from satellites are used as input to computers for automatically mapping terrain classes of ground cover. Some major problems faced in this remote-sensing task include: (1) the effect of mixtures of classes and, primarily because of mixtures, the problem of what constitutes accurate control data, and (2) effects of the atmosphere on spectral responses. The fundamental principles of these problems are presented along with results of studies of them for a test site of Colorado, using LANDSAT-1 data.

Mobile robots traversability awareness based on terrain visual sensory data fusion

NASA Astrophysics Data System (ADS)

Shirkhodaie, Amir

2007-04-01

In this paper, we have presented methods that significantly improve the robot awareness of its terrain traversability conditions. The terrain traversability awareness is achieved by association of terrain image appearances from different poses and fusion of extracted information from multimodality imaging and range sensor data for localization and clustering environment landmarks. Initially, we describe methods for extraction of salient features of the terrain for the purpose of landmarks registration from two or more images taken from different via points along the trajectory path of the robot. The method of image registration is applied as a means of overlaying (two or more) of the same terrain scene at different viewpoints. The registration geometrically aligns salient landmarks of two images (the reference and sensed images). A Similarity matching techniques is proposed for matching the terrain salient landmarks. Secondly, we present three terrain classifier models based on rule-based, supervised neural network, and fuzzy logic for classification of terrain condition under uncertainty and mapping the robot's terrain perception to apt traversability measures. This paper addresses the technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain spatial and textural cues.

Geomorphological mapping with a small unmanned aircraft system (sUAS): Feature detection and accuracy assessment of a photogrammetrically-derived digital terrain model

NASA Astrophysics Data System (ADS)

Hugenholtz, Chris H.; Whitehead, Ken; Brown, Owen W.; Barchyn, Thomas E.; Moorman, Brian J.; LeClair, Adam; Riddell, Kevin; Hamilton, Tayler

2013-07-01

Small unmanned aircraft systems (sUAS) are a relatively new type of aerial platform for acquiring high-resolution remote sensing measurements of Earth surface processes and landforms. However, despite growing application there has been little quantitative assessment of sUAS performance. Here we present results from a field experiment designed to evaluate the accuracy of a photogrammetrically-derived digital terrain model (DTM) developed from imagery acquired with a low-cost digital camera onboard an sUAS. We also show the utility of the high-resolution (0.1 m) sUAS imagery for resolving small-scale biogeomorphic features. The experiment was conducted in an area with active and stabilized aeolian landforms in the southern Canadian Prairies. Images were acquired with a Hawkeye RQ-84Z Areohawk fixed-wing sUAS. A total of 280 images were acquired along 14 flight lines, covering an area of 1.95 km2. The survey was completed in 4.5 h, including GPS surveying, sUAS setup and flight time. Standard image processing and photogrammetric techniques were used to produce a 1 m resolution DTM and a 0.1 m resolution orthorectified image mosaic. The latter revealed previously un-mapped bioturbation features. The vertical accuracy of the DTM was evaluated with 99 Real-Time Kinematic GPS points, while 20 of these points were used to quantify horizontal accuracy. The horizontal root mean squared error (RMSE) of the orthoimage was 0.18 m, while the vertical RMSE of the DTM was 0.29 m, which is equivalent to the RMSE of a bare earth LiDAR DTM for the same site. The combined error from both datasets was used to define a threshold of the minimum elevation difference that could be reliably attributed to erosion or deposition in the seven years separating the sUAS and LiDAR datasets. Overall, our results suggest that sUAS-acquired imagery may provide a low-cost, rapid, and flexible alternative to airborne LiDAR for geomorphological mapping.

Archaeological field survey automation: concurrent multisensor site mapping and automated analysis

NASA Astrophysics Data System (ADS)

Józefowicz, Mateusz; Sokolov, Oleksandr; Meszyński, Sebastian; Siemińska, Dominika; Kołosowski, Przemysław

2016-04-01

ABM SE develops mobile robots (rovers) used for analog research of Mars exploration missions. The rovers are all-terrain exploration platforms, carrying third-party payloads: scientific instrumentation. "Wisdom" ground penetrating radar for Exomars mission has been tested onboard, as well as electrical resistivity module and other devices. Robot has operated in various environments, such as Central European countryside, Dachstein ice caves or Sahara, Morocco (controlled remotely via satellite from Toruń, Poland. Currently ABM SE works on local and global positioning system for a Mars rover basing on image and IMU data. This is performed under a project from ESA. In the next Mars rover missions a Mars GIS model will be build, including an acquired GPR profile, DEM and regular image data, integrated into a concurrent 3D terrain model. It is proposed to use similar approach in surveys of archaeological sites, especially those, where solid architecture remains can be expected at shallow depths or being partially exposed. It is possible to deploy a rover that will concurrently map a selected site with GPR, 2D and 3D cameras to create a site model. The rover image processing algorithms are capable of automatic tracing of distinctive features (such as exposed structure remains on a desert ground, differences in color of the ground, etc.) and to mark regularities on a created map. It is also possible to correlate the 3D map with an aerial photo taken under any angle to achieve interpretation synergy. Currently the algorithms are an interpretation aid and their results must be confirmed by a human. The advantages of a rover over traditional approaches, such as a manual cart or a drone include: a) long hours of continuous work or work in unfavorable environment, such as high desert, frozen water pools or large areas, b) concurrent multisensory data acquisition, c) working from the ground level enables capturing of sites obstructed from the air (trees), d) it is possible to control the platform from a remote location via satellite, with only servicing person on the site and the survey team operating from their office, globally. The method is under development. The team contributing to the project includes also: Oleksii Sokolov, Michał Koepke, Krzysztof Rydel, Michał Stypczyński, Maciej Ślęk, Łukasz Zapała, Michał Dąbrowski.

Terrain Extraction by Integrating Terrestrial Laser Scanner Data and Spectral Information

NASA Astrophysics Data System (ADS)

Lau, C. L.; Halim, S.; Zulkepli, M.; Azwan, A. M.; Tang, W. L.; Chong, A. K.

2015-10-01

The extraction of true terrain points from unstructured laser point cloud data is an important process in order to produce an accurate digital terrain model (DTM). However, most of these spatial filtering methods just utilizing the geometrical data to discriminate the terrain points from nonterrain points. The point cloud filtering method also can be improved by using the spectral information available with some scanners. Therefore, the objective of this study is to investigate the effectiveness of using the three-channel (red, green and blue) of the colour image captured from built-in digital camera which is available in some Terrestrial Laser Scanner (TLS) for terrain extraction. In this study, the data acquisition was conducted at a mini replica landscape in Universiti Teknologi Malaysia (UTM), Skudai campus using Leica ScanStation C10. The spectral information of the coloured point clouds from selected sample classes are extracted for spectral analysis. The coloured point clouds which within the corresponding preset spectral threshold are identified as that specific feature point from the dataset. This process of terrain extraction is done through using developed Matlab coding. Result demonstrates that a higher spectral resolution passive image is required in order to improve the output. This is because low quality of the colour images captured by the sensor contributes to the low separability in spectral reflectance. In conclusion, this study shows that, spectral information is capable to be used as a parameter for terrain extraction.

NREL: International Activities - Afghanistan Resource Maps

Science.gov Websites

facilities, load centers, terrain conditions, and land use. The high-resolution (1-km) annual wind power maps . The high-resolution (10-km) annual and seasonal solar resource maps were developed using weather -km Resolution Annual Maps (Direct) Low-Res (JPG 104 KB) | High-Res (ZIP 330 KB) 40-km Resolution

Navigation and Remote Sensing Payloads and Methods of the Sarvant Unmanned Aerial System

NASA Astrophysics Data System (ADS)

Molina, P.; Fortuny, P.; Colomina, I.; Remy, M.; Macedo, K. A. C.; Zúnigo, Y. R. C.; Vaz, E.; Luebeck, D.; Moreira, J.; Blázquez, M.

2013-08-01

In a large number of scenarios and missions, the technical, operational and economical advantages of UAS-based photogrammetry and remote sensing over traditional airborne and satellite platforms are apparent. Airborne Synthetic Aperture Radar (SAR) or combined optical/SAR operation in remote areas might be a case of a typical "dull, dirty, dangerous" mission suitable for unmanned operation - in harsh environments such as for example rain forest areas in Brazil, topographic mapping of small to medium sparsely inhabited remote areas with UAS-based photogrammetry and remote sensing seems to be a reasonable paradigm. An example of such a system is the SARVANT platform, a fixed-wing aerial vehicle with a six-meter wingspan and a maximumtake- of-weight of 140 kilograms, able to carry a fifty-kilogram payload. SARVANT includes a multi-band (X and P) interferometric SAR payload, as the P-band enables the topographic mapping of densely tree-covered areas, providing terrain profile information. Moreover, the combination of X- and P-band measurements can be used to extract biomass estimations. Finally, long-term plan entails to incorporate surveying capabilities also at optical bands and deliver real-time imagery to a control station. This paper focuses on the remote-sensing concept in SARVANT, composed by the aforementioned SAR sensor and envisioning a double optical camera configuration to cover the visible and the near-infrared spectrum. The flexibility on the optical payload election, ranging from professional, medium-format cameras to mass-market, small-format cameras, is discussed as a driver in the SARVANT development. The paper also focuses on the navigation and orientation payloads, including the sensors (IMU and GNSS), the measurement acquisition system and the proposed navigation and orientation methods. The latter includes the Fast AT procedure, which performs close to traditional Integrated Sensor Orientation (ISO) and better than Direct Sensor Orientation (DiSO), and features the advantage of not requiring the massive image processing load for the generation of tie points, although it does require some Ground Control Points (GCPs). This technique is further supported by the availability of a high quality INS/GNSS trajectory, motivated by single-pass and repeat-pass SAR interferometry requirements.

Fortuna Tessera, Venus - Evidence of horizontal convergence and crustal thickening

NASA Technical Reports Server (NTRS)

Vorder Bruegge, R. W.; Head, J. W.

1989-01-01

Structural and tectonic patterns mapped in Fortuna Tessera are interpreted to reflect a change in the style and intensity of deformation from east to west, beginning with simple tessera terrain at relatively low topographic elevations in the east and progressing through increasingly complex deformation patterns and higher topography to Maxwell Montes in the West. These morphologic and topographic patterns are consistent with east-to-west convergence and compression and the increasing elevations are interpreted to be due to crustal thickening processes associated with the convergent deformational environment. Using an Airy isostatic model, crustal thicknesses of approximately 35 km for the initial tessera terrain, and crustal thicknesses of over 100 km for the Maxwell Montes region are predicted. Detailed mapping with Magellan data will permit the deconvolution of individual components and structures in this terrain.

Stratigraphy of the south polar region of Ganymede

NASA Technical Reports Server (NTRS)

Dehon, R. A.

1987-01-01

A preliminary assessment is made of the stratigraphy and geology in the south polar region of the Jovian satellite, Ganymede. Geologic mapping is based on inspection of Voyager images and compilation on an airbrush base map at a scale of 1:5M. Illumination and resolution vary greatly in the region. Approximately half of the quadripole is beyond the terminator. Low angle illumination over a large part of the area precludes distinction of some units by albedo characteristics. Several types of grooved terrain and groove related terrain occur in the southern polar region. Grooves typically occur in straight to curvilinear sets or lanes. Bright lanes and grooved lanes intersect at high angles outlining polygons of dark cratered terrain. Groove sets exhibit a range of ages as shown by superposition or truncation and by crater superposition ages.

Traverse velocity maps for human exploration

NASA Astrophysics Data System (ADS)

Heinicke, Christiane; Johnston, Carmel; Sefton-Nash, Elliot; Foing, Bernard

2017-04-01

It is often proposed that humans are more effective and efficient in conducting exploratory work during planetary missions than rovers. However, even humans are hindered by the restrictions of their suits and by necessary precautions to ensure the astronauts' safety. During the 12-month simulation at the Hawaii Space Exploration Analog and Simulation facility, several members of the six-person crew conducted a large number of exploratory expeditions under conditions similar to a Mars crew. Over the course of 145 extra-vehicular activities (EVAs), they traversed several thousand kilometers of various types of terrain. The actual walking speeds of the crew members have been correlated with different properties of the terrain as determined from field excursions and remote sensing. The resulting terrain and velocity maps can be used both for ground truthing of satellite imagery, and potential EVA planning on celestial bodies.

Comparing physiographic maps with different categorisations

NASA Astrophysics Data System (ADS)

Zawadzka, J.; Mayr, T.; Bellamy, P.; Corstanje, R.

2015-02-01

This paper addresses the need for a robust map comparison method suitable for finding similarities between thematic maps with different forms of categorisations. In our case, the requirement was to establish the information content of newly derived physiographic maps with regards to set of reference maps for a study area in England and Wales. Physiographic maps were derived from the 90 m resolution SRTM DEM, using a suite of existing and new digital landform mapping methods with the overarching purpose of enhancing the physiographic unit component of the Soil and Terrain database (SOTER). Reference maps were seven soil and landscape datasets mapped at scales ranging from 1:200,000 to 1:5,000,000. A review of commonly used statistical methods for categorical comparisons was performed and of these, the Cramer's V statistic was identified as the most appropriate for comparison of maps with different legends. Interpretation of multiple Cramer's V values resulting from one-by-one comparisons of the physiographic and baseline maps was facilitated by multi-dimensional scaling and calculation of average distances between the maps. The method allowed for finding similarities and dissimilarities amongst physiographic maps and baseline maps and informed the recommendation of the most suitable methodology for terrain analysis in the context of soil mapping.

Charon's Surface in Detail

NASA Image and Video Library

2017-07-14

On July 14, 2015, NASA's New Horizons spacecraft made its historic flight through the Pluto system. This detailed, high-quality global mosaic of Pluto's largest moon, Charon, was assembled from nearly all of the highest-resolution images obtained by the Long-Range Reconnaissance Imager (LORRI) and the Multispectral Visible Imaging Camera (MVIC) on New Horizons. The mosaic is the most detailed and comprehensive global view yet of Charon's surface using New Horizons data. It includes topography data of the hemisphere visible to New Horizons during the spacecraft's closest approach. The topography is derived from digital stereo-image mapping tools that measure the parallax -- or the difference in the apparent relative positions -- of features on the surface obtained at different viewing angles during the encounter. Scientists use these parallax displacements of high and low terrain to estimate landform heights. The global mosaic has been overlain with transparent, colorized topography data wherever on the surface stereo data is available. Terrain south of about 30°S was in darkness leading up to and during the flyby, so is shown in black. All feature names on Pluto and Charon are informal. The global mosaic has been overlain with transparent, colorized topography data wherever on their surfaces stereo data is available. Standing out on Charon is the Caleuche Chasma ("C") in the far north, an enormous trough at least 350 kilometers (nearly 220 miles) long, and reaching 14 kilometers (8.5 miles) deep -- more than seven times as deep as the Grand Canyon. https://photojournal.jpl.nasa.gov/catalog/PIA21860

Free-Air Gravity Map of the Moon

NASA Image and Video Library

2014-06-27

This still image features a free-air gravity map of the Moon's southern latitudes developed by S. Goossens et al. from data returned by the Gravity Recovery and Interior Laboratory (GRAIL) mission. If the Moon were a perfectly smooth sphere of uniform density, the gravity map would be a single, featureless color, indicating that the force of gravity at a given elevation was the same everywhere. But like other rocky bodies in the solar system, including Earth, the Moon has both a bumpy surface and a lumpy interior. Spacecraft in orbit around the Moon experience slight variations in gravity caused by both of these irregularities. The free-air gravity map shows deviations from the mean gravity that a cueball Moon would have. The deviations are measured in milliGals, a unit of acceleration. On the map, purple is at the low end of the range, at around -400 mGals, and red is at the high end near +400 mGals. Yellow denotes the mean. The map shown here extends from the south pole of the Moon up to 50°S and reveals the gravity for that region in even finer detail than the global gravity maps published previously. The image illustrates the very good correlation between the gravity map and topographic features such as peaks and craters, as well as the mass concentration lying beneath the large Schrödinger basin in the center of the frame. The terrain in the image is based on Lunar Reconnaissance Orbiter (LRO) altimeter and camera data. Credit: NASA's Scientific Visualization Studio NASA image use policy. NASA Goddard Space Flight Center enables NASA’s mission through four scientific endeavors: Earth Science, Heliophysics, Solar System Exploration, and Astrophysics. Goddard plays a leading role in NASA’s accomplishments by contributing compelling scientific knowledge to advance the Agency’s mission. Follow us on Twitter Like us on Facebook Find us on Instagram

Applicability of New Approaches of Sensor Orientation to Micro Aerial Vehicles

NASA Astrophysics Data System (ADS)

Rehak, M.; Skaloud, J.

2016-06-01

This study highlights the benefits of precise aerial position and attitude control in the context of mapping with Micro Aerial Vehicles (MAVs). Accurate mapping with MAVs is gaining importance in applications such as corridor mapping, road and pipeline inspections or mapping of large areas with homogeneous surface structure, e.g. forests or agricultural fields. There, accurate aerial control plays a major role in successful terrain reconstruction and artifact-free ortophoto generation. The presented experiments focus on new approaches of aerial control. We confirm practically that the relative aerial position and attitude control can improve accuracy in difficult mapping scenarios. Indeed, the relative orientation method represents an attractive alternative in the context of MAVs for two reasons. First, the procedure is somewhat simplified, e.g. the angular misalignment, so called boresight, between the camera and the inertial measurement unit (IMU) does not have to be determined and, second, the effect of possible systematic errors in satellite positioning (e.g. due to multipath and/or incorrect recovery of differential carrier-phase ambiguities) is mitigated. First, we present a typical mapping project over an agricultural field and second, we perform a corridor road mapping. We evaluate the proposed methods in scenarios with and without automated image observations. We investigate a recently proposed concept where adjustment is performed using image observations limited to ground control and check points, so called fast aerial triangulation (Fast AT). In this context we show that accurate aerial control (absolute or relative) together with a few image observations can deliver accurate results comparable to classical aerial triangulation with thousands of image measurements. This procedure in turns reduces the demands on processing time and the requirements on the existence of surface texture. Finally, we compare the above mentioned procedures with direct sensor orientation (DiSO) to show its potential for rapid mapping.

Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

NASA Technical Reports Server (NTRS)

Almeida, Eduardo DeBrito

2012-01-01

This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

Geomorphology of comet 67P/Churyumov–Gerasimenko

USGS Publications Warehouse

Birch, Samuel P. D.; Tang, Y.; Hayes, A. G.; Kirk, Randolph L.; Bodewitz, D.; Campins, H.; Fernandez, Y.; de Freitas Bart, R.; Kutsop, N. W.; Sierks, H.; Soderblom, J. M.; Squyres, S. W.; Vincent, J.-B.

2017-01-01

We present a global geomorphological map of comet 67P/Churyumov–Gerasimenko (67P/C-G) using data acquired by the Rosetta Orbiter’s OSIRIS Narrow Angle Camera. The images used in our study were acquired between 2014 August and 2015 May, before 67P/C-G passed through perihelion. Imagery of the Southern hemisphere was included in our study, allowing us to compare the contrasting hemispheres of 67P/C-G in a single study. Our work also puts into greater context the morphologies studied in previous works, and also the morphologies observed on previously visited cometary nuclei. Relative to other nuclei, 67P/C-G appears most similar to 81P/Wild 2, with a topographically heterogeneous surface dominated by smooth-floored pits. Our mapping describes the landscapes of 67P/C-G when they were first observed by Rosetta, and our map can be used to detect changes in surface morphologies after its perihelion passage. Our mapping reveals strong latitudinal dependences for emplaced units and a highly heterogeneous surface. Layered bedrock units that represent the exposed nucleus of 67P/C-G are dominant at southern latitudes, while topographically smooth, dust covered regions dominate the Northern hemisphere. Equatorial latitudes are dominated by smooth terrain units that show evidence for flow structures. We observe no obvious differences between the comet’s two lobes, with the only longitudinal variations being the Imhotep and Hatmehit basins. These correlations suggest a strong seasonal forcing on the surface evolution of 67P/C-G, where materials are transported from the Southern hemisphere to Northern hemisphere basins over multiple orbital time-scales.

A Model to Aid Topo-Map Interpretation

ERIC Educational Resources Information Center

Westerback, Mary

1976-01-01

Describes how to construct models of contour lines from flexible, colored bell wire. These models are used to illustrate three-dimensional terrain characteristics represented by contour lines printed on a flat map. (MLH)

Improving a DSM Obtained by Unmanned Aerial Vehicles for Flood Modelling

NASA Astrophysics Data System (ADS)

Mourato, Sandra; Fernandez, Paulo; Pereira, Luísa; Moreira, Madalena

2017-12-01

According to the EU flood risks directive, flood hazard map must be used to assess the flood risk. These maps can be developed with hydraulic modelling tools using a Digital Surface Runoff Model (DSRM). During the last decade, important evolutions of the spatial data processing has been developed which will certainly improve the hydraulic models results. Currently, images acquired with Red/Green/Blue (RGB) camera transported by Unmanned Aerial Vehicles (UAV) are seen as a good alternative data sources to represent the terrain surface with a high level of resolution and precision. The question is if the digital surface model obtain with this data is adequate enough for a good representation of the hydraulics flood characteristics. For this purpose, the hydraulic model HEC-RAS was run with 4 different DSRM for an 8.5 km reach of the Lis River in Portugal. The computational performance of the 4 modelling implementations is evaluated. Two hydrometric stations water level records were used as boundary conditions of the hydraulic model. The records from a third hydrometric station were used to validate the optimal DSRM. The HEC-RAS results had the best performance during the validation step were the ones where the DSRM with integration of the two altimetry data sources.

Determination of Landslide and Driftwood Potentials by Fixed-wing UAV-Borne RGB and NIR images: A Case Study of Shenmu Area in Taiwan

NASA Astrophysics Data System (ADS)

Chen, Su-Chin; Hsiao, Yu-Shen; Chung, Ta-Hsien

2015-04-01

This study is aimed at determining the landslide and driftwood potentials at Shenmu area in Taiwan by Unmanned Aerial Vehicle (UAV). High-resolution orthomosaics and digital surface models (DSMs) are both obtained from several UAV practical surveys by using a red-green-blue(RGB) camera and a near-infrared(NIR) one, respectively. Couples of artificial aerial survey targets are used for ground control in photogrammtry. The algorithm for this study is based on Logistic regression. 8 main factors, which are elevations, terrain slopes, terrain aspects, terrain reliefs, terrain roughness, distances to roads, distances to rivers, land utilizations, are taken into consideration in our Logistic regression model. The related results from UAV are compared with those from traditional photogrammetry. Overall, the study is focusing on monitoring the distribution of the areas with high-risk landslide and driftwood potentials in Shenmu area by Fixed-wing UAV-Borne RGB and NIR images. We also further analyze the relationship between forests, landslides, disaster potentials and upper river areas.

Engineering study for pallet adapting the Apollo laser altimeter and photographic camera system for the Lidar Test Experiment on orbital flight tests 2 and 4

NASA Technical Reports Server (NTRS)

Kuebert, E. J.

1977-01-01

A Laser Altimeter and Mapping Camera System was included in the Apollo Lunar Orbital Experiment Missions. The backup system, never used in the Apollo Program, is available for use in the Lidar Test Experiments on the STS Orbital Flight Tests 2 and 4. Studies were performed to assess the problem associated with installation and operation of the Mapping Camera System in the STS. They were conducted on the photographic capabilities of the Mapping Camera System, its mechanical and electrical interface with the STS, documentation, operation and survivability in the expected environments, ground support equipment, test and field support.

A synoptic approach for analyzing erosion as a guide to land-use planning

USGS Publications Warehouse

Brown, William M.; Hines, Walter G.; Rickert, David A.; Beach, Gary L.

1979-01-01

A synoptic approach has been devised to delineate the relationships that exist' between physiographic factors, land-use activities, and resultant erosional problems. The approach involves the development of an erosional-depositional province map and a numerical impact matrix for rating the potential for erosional problems. The province map is prepared by collating data on the natural terrain factors that exert the dominant controls on erosion and deposition in each basin. In addition, existing erosional and depositional features are identified and mapped from color-infrared, high-altitude aerial imagery. The axes of the impact matrix are composed of weighting values for the terrain factors used in developing the map and by a second set of values for the prevalent land-use activities. The body of the matrix is composed of composite erosional-impact ratings resulting from the product of the factor sets. Together the province map and problem matrix serve as practical tools for estimating the erosional impact of human activities on different types of terrain. The approach has been applied to the Molalla River basin, Oregon, and has proven useful for the recognition of problem areas. The same approach is currently being used by the State of Oregon (in the 208 assessment of nonpoint-source pollution under Public Law 92-500) to evaluate the impact of land-management practices on stream quality.

Evaluation of off-road terrain with static stereo and monoscopic displays

NASA Technical Reports Server (NTRS)

Yorchak, John P.; Hartley, Craig S.

1990-01-01

The National Aeronautics and Space Administration is currently funding research into the design of a Mars rover vehicle. This unmanned rover will be used to explore a number of scientific and geologic sites on the Martian surface. Since the rover can not be driven from Earth in real-time, due to lengthy communication time delays, a locomotion strategy that optimizes vehicle range and minimizes potential risk must be developed. In order to assess the degree of on-board artificial intelligence (AI) required for a rover to carry out its' mission, researchers conducted an experiment to define a no AI baseline. In the experiment 24 subjects, divided into stereo and monoscopic groups, were shown video snapshots of four terrain scenes. The subjects' task was to choose a suitable path for the vehicle through each of the four scenes. Paths were scored based on distance travelled and hazard avoidance. Study results are presented with respect to: (1) risk versus range; (2) stereo versus monocular video; (3) vehicle camera height; and (4) camera field-of-view.

A terrain-based site characterization map of California with implications for the contiguous United States

USGS Publications Warehouse

Yong, Alan K.; Hough, Susan E.; Iwahashi, Junko; Braverman, Amy

2012-01-01

We present an approach based on geomorphometry to predict material properties and characterize site conditions using the VS30 parameter (time‐averaged shear‐wave velocity to a depth of 30 m). Our framework consists of an automated terrain classification scheme based on taxonomic criteria (slope gradient, local convexity, and surface texture) that systematically identifies 16 terrain types from 1‐km spatial resolution (30 arcsec) Shuttle Radar Topography Mission digital elevation models (SRTM DEMs). Using 853 VS30 values from California, we apply a simulation‐based statistical method to determine the mean VS30 for each terrain type in California. We then compare the VS30 values with models based on individual proxies, such as mapped surface geology and topographic slope, and show that our systematic terrain‐based approach consistently performs better than semiempirical estimates based on individual proxies. To further evaluate our model, we apply our California‐based estimates to terrains of the contiguous United States. Comparisons of our estimates with 325 VS30 measurements outside of California, as well as estimates based on the topographic slope model, indicate our method to be statistically robust and more accurate. Our approach thus provides an objective and robust method for extending estimates of VS30 for regions where in situ measurements are sparse or not readily available.

Using Thermal Radiation in Detection of Negative Obstacles

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Matthies, Larry H.

2009-01-01

A method of automated detection of negative obstacles (potholes, ditches, and the like) ahead of ground vehicles at night involves processing of imagery from thermal-infrared cameras aimed at the terrain ahead of the vehicles. The method is being developed as part of an overall obstacle-avoidance scheme for autonomous and semi-autonomous offroad robotic vehicles. The method could also be applied to help human drivers of cars and trucks avoid negative obstacles -- a development that may entail only modest additional cost inasmuch as some commercially available passenger cars are already equipped with infrared cameras as aids for nighttime operation.

SKYLAB (SL)-4 - CREW TRAINING (ORBITAL WORKSHOP [OWS]) - JSC

NASA Image and Video Library

1973-08-22

S73-32840 (10 Sept. 1973) --- Scientist-astronaut Edward G. Gibson, Skylab 4 science pilot, turns on a switch on the control box of the S190B camera, one of the components of the Earth Resources Experiments Package (EREP). The single lens Earth Terrain Camera takes five-inch photographs. Behind Gibson is the stowed suit of astronaut Gerald P. Carr, commander for the third manned mission. The crew's other member is astronaut William R. Pogue, pilot. The training exercise took place in the Orbital Workshop one-G trainer at Johnson Space Center. Photo credit: NASA

Mosaic of Apollo 16 Descartes landing site taken from TV transmission

NASA Technical Reports Server (NTRS)

1972-01-01

A 360 degree field of view of the Apollo 16 Descartes landing site area composed of individual scenes taken from a color transmission made by the color RCA TV camera mounted on the Lunar Roving Vehicle. This panorama was made while the LRV was parked at the rim of Flag Crater (Station 1) during the first Apollo 16 lunar surface extravehicular activity (EVA-1) by Astronauts John W. Young and Charles M. Duke Jr. The overlay identifies the directions and the key lunar terrain features. The camera panned across the rear portion of the LRV in its 360 degree sweep.

Geological mapping of lunar highland crater Lalande: Topographic configuration, morphology and cratering process

NASA Astrophysics Data System (ADS)

Li, Bo; Ling, Zongcheng; Zhang, Jiang; Chen, Jian; Liu, ChangQing; Bi, Xiangyu

2018-02-01

Highland crater Lalande (4.45°S, 8.63°W; D = 23.4 km) is located on the PKT area of the lunar near side, southeast of the Mare Insularum. It is a complex crater in Copernican era and has three distinguishing features: high silicic anomaly, the highest Th abundance and special landforms on its floor. There are some low-relief bulges on the left of Lalande's floor with regular circle or ellipse shapes. They are ∼250-680 m wide and ∼30-91 m high with maximum flank slopes >20°. There are two possible scenarios for the formation of these low-relief bulges which are impact melt products or young silicic volcanic eruptions. We estimated the absolute model ages of the ejecta deposits, several melt ponds and the hummocky floor and determined the ratio of diameter and depth of the crater Lalande. In addition, we found some similar bugle features within other Copernican-aged craters and there were no volcanic source vents on Lalande's floor. Thus, we hypothesized that these low-relief bulges were most consistent with an origin of impact melts during the crater formation instead of small and young volcanic activities occurring on the floor. Based on Kaguya Terrain Camera (TC) ortho-mosaic and Digital Terrain Model (DTM) data produced by TC imagery in stereo, geological units and some linear features on the floor and wall of Lalande have been mapped. Eight geological units are organized by crater floor units: hummocky floor, central peak and low-relief bulges; and crater wall units: terraced walls, channeled and veneered walls, interior walls, mass wasting areas, blocky areas, and melt ponds. These geological units and linear features provided us a chance to understand some details of the cratering process and elevation differences on the floor. We proposed that subsidence due to melt cooling, late-stage wall collapse and rocks uplifted from beneath the surface could be the possible causes of the observed elevation differences on Lalande's floor.

Geometric Calibration and Validation of Ultracam Aerial Sensors

NASA Astrophysics Data System (ADS)

Gruber, Michael; Schachinger, Bernhard; Muick, Marc; Neuner, Christian; Tschemmernegg, Helfried

2016-03-01

We present details of the calibration and validation procedure of UltraCam Aerial Camera systems. Results from the laboratory calibration and from validation flights are presented for both, the large format nadir cameras and the oblique cameras as well. Thus in this contribution we show results from the UltraCam Eagle and the UltraCam Falcon, both nadir mapping cameras, and the UltraCam Osprey, our oblique camera system. This sensor offers a mapping grade nadir component together with the four oblique camera heads. The geometric processing after the flight mission is being covered by the UltraMap software product. Thus we present details about the workflow as well. The first part consists of the initial post-processing which combines image information as well as camera parameters derived from the laboratory calibration. The second part, the traditional automated aerial triangulation (AAT) is the step from single images to blocks and enables an additional optimization process. We also present some special features of our software, which are designed to better support the operator to analyze large blocks of aerial images and to judge the quality of the photogrammetric set-up.

CMOS Imaging Sensor Technology for Aerial Mapping Cameras

NASA Astrophysics Data System (ADS)

Neumann, Klaus; Welzenbach, Martin; Timm, Martin

2016-06-01

In June 2015 Leica Geosystems launched the first large format aerial mapping camera using CMOS sensor technology, the Leica DMC III. This paper describes the motivation to change from CCD sensor technology to CMOS for the development of this new aerial mapping camera. In 2002 the DMC first generation was developed by Z/I Imaging. It was the first large format digital frame sensor designed for mapping applications. In 2009 Z/I Imaging designed the DMC II which was the first digital aerial mapping camera using a single ultra large CCD sensor to avoid stitching of smaller CCDs. The DMC III is now the third generation of large format frame sensor developed by Z/I Imaging and Leica Geosystems for the DMC camera family. It is an evolution of the DMC II using the same system design with one large monolithic PAN sensor and four multi spectral camera heads for R,G, B and NIR. For the first time a 391 Megapixel large CMOS sensor had been used as PAN chromatic sensor, which is an industry record. Along with CMOS technology goes a range of technical benefits. The dynamic range of the CMOS sensor is approx. twice the range of a comparable CCD sensor and the signal to noise ratio is significantly better than with CCDs. Finally results from the first DMC III customer installations and test flights will be presented and compared with other CCD based aerial sensors.

Groundwater favorability map using GIS multicriteria data analysis on crystalline terrain, São Paulo State, Brazil

NASA Astrophysics Data System (ADS)

Madrucci, Vanessa; Taioli, Fabio; de Araújo, Carlos César

2008-08-01

SummaryThis paper presents the groundwater favorability mapping on a fractured terrain in the eastern portion of São Paulo State, Brazil. Remote sensing, airborne geophysical data, photogeologic interpretation, geologic and geomorphologic maps and geographic information system (GIS) techniques have been used. The results of cross-tabulation between these maps and well yield data allowed groundwater prospective parameters in a fractured-bedrock aquifer. These prospective parameters are the base for the favorability analysis whose principle is based on the knowledge-driven method. The multicriteria analysis (weighted linear combination) was carried out to give a groundwater favorability map, because the prospective parameters have different weights of importance and different classes of each parameter. The groundwater favorability map was tested by cross-tabulation with new well yield data and spring occurrence. The wells with the highest values of productivity, as well as all the springs occurrence are situated in the excellent and good favorability mapped areas. It shows good coherence between the prospective parameters and the well yield and the importance of GIS techniques for definition of target areas for detail study and wells location.

Snow Depth Mapping at a Basin-Wide Scale in the Western Arctic Using UAS Technology

NASA Astrophysics Data System (ADS)

de Jong, T.; Marsh, P.; Mann, P.; Walker, B.

2015-12-01

Assessing snow depths across the Arctic has proven to be extremely difficult due to the variability of snow depths at scales from metres to 100's of metres. New Unmanned Aerial Systems (UAS) technology provides the possibility to obtain centimeter level resolution imagery (~3cm), and to create Digital Surface Models (DSM) based on the Structure from Motion method. However, there is an ongoing need to quantify the accuracy of this method over different terrain and vegetation types across the Arctic. In this study, we used a small UAS equipped with a high resolution RGB camera to create DSMs over a 1 km2 watershed in the western Canadian Arctic during snow (end of winter) and snow-free periods. To improve the image georeferencing, 15 Ground Control Points were marked across the watershed and incorporated into the DSM processing. The summer DSM was subtracted from the snowcovered DSM to deliver snow depth measurements across the entire watershed. These snow depth measurements were validated by over 2000 snow depth measurements. This technique has the potential to improve larger scale snow depth mapping across watersheds by providing snow depth measurements at a ~3 cm . The ability of mapping both shallow snow (less than 75cm) covering much of the basin and snow patches (up to 5 m in depth) that cover less than 10% of the basin, but contain a significant portion of total basin snowcover, is important for both water resource applications, as well as for testing snow models.

Mapping lava morphology of the Galapagos Spreading Center at 92°W: fuzzy logic provides a classification of high-resolution bathymetry and backscatter

NASA Astrophysics Data System (ADS)

McClinton, J. T.; White, S. M.; Sinton, J. M.; Rubin, K. H.; Bowles, J. A.

2010-12-01

Differences in axial lava morphology along the Galapagos Spreading Center (GSC) can indicate variations in magma supply and emplacement dynamics due to the influence of the adjacent Galapagos hot spot. Unfortunately, the ability to discriminate fine-scale lava morphology has historically been limited to observations of the small coverage areas of towed camera surveys and submersible operations. This research presents a neuro-fuzzy approach to automated seafloor classification using spatially coincident, high-resolution bathymetry and backscatter data. The classification method implements a Sugeno-type fuzzy inference system trained by a multi-layered adaptive neural network and is capable of rapidly classifying seafloor morphology based on attributes of surface geometry and texture. The system has been applied to the 92°W segment of the western GSC in order to quantify coverage areas and distributions of pillow, lobate, and sheet lava morphology. An accuracy assessment has been performed on the classification results. The resulting classified maps provide a high-resolution view of GSC axial morphology and indicate the study area terrain is approximately 40% pillow flows, 40% lobate and sheet flows, and 10% fissured or faulted area, with about 10% of the study area unclassifiable. Fine-scale features such as eruptive fissures, tumuli, and individual pillowed lava flow fronts are also visible. Although this system has been applied to lava morphology, its design and implementation are applicable to other undersea mapping applications.

System for real-time generation of georeferenced terrain models

NASA Astrophysics Data System (ADS)

Schultz, Howard J.; Hanson, Allen R.; Riseman, Edward M.; Stolle, Frank; Zhu, Zhigang; Hayward, Christopher D.; Slaymaker, Dana

2001-02-01

A growing number of law enforcement applications, especially in the areas of border security, drug enforcement and anti- terrorism require high-resolution wide area surveillance from unmanned air vehicles. At the University of Massachusetts we are developing an aerial reconnaissance system capable of generating high resolution, geographically registered terrain models (in the form of a seamless mosaic) in real-time from a single down-looking digital video camera. The efficiency of the processing algorithms, as well as the simplicity of the hardware, will provide the user with the ability to produce and roam through stereoscopic geo-referenced mosaic images in real-time, and to automatically generate highly accurate 3D terrain models offline in a fraction of the time currently required by softcopy conventional photogrammetry systems. The system is organized around a set of integrated sensor and software components. The instrumentation package is comprised of several inexpensive commercial-off-the-shelf components, including a digital video camera, a differential GPS, and a 3-axis heading and reference system. At the heart of the system is a set of software tools for image registration, mosaic generation, geo-location and aircraft state vector recovery. Each process is designed to efficiently handle the data collected by the instrument package. Particular attention is given to minimizing geospatial errors at each stage, as well as modeling propagation of errors through the system. Preliminary results for an urban and forested scene are discussed in detail.

Mapping gullies, dunes, lava fields, and landslides via surface roughness

NASA Astrophysics Data System (ADS)

Korzeniowska, Karolina; Pfeifer, Norbert; Landtwing, Stephan

2018-01-01

Gully erosion is a widespread and significant process involved in soil and land degradation. Mapping gullies helps to quantify past, and anticipate future, soil losses. Digital terrain models offer promising data for automatically detecting and mapping gullies especially in vegetated areas, although methods vary widely measures of local terrain roughness are the most varied and debated among these methods. Rarely do studies test the performance of roughness metrics for mapping gullies, limiting their applicability to small training areas. To this end, we systematically explored how local terrain roughness derived from high-resolution Light Detection And Ranging (LiDAR) data can aid in the unsupervised detection of gullies over a large area. We also tested expanding this method for other landforms diagnostic of similarly abrupt land-surface changes, including lava fields, dunes, and landslides, as well as investigating the influence of different roughness thresholds, resolutions of kernels, and input data resolution, and comparing our method with previously published roughness algorithms. Our results show that total curvature is a suitable metric for recognising analysed gullies and lava fields from LiDAR data, with comparable success to that of more sophisticated roughness metrics. Tested dunes or landslides remain difficult to distinguish from the surrounding landscape, partly because they are not easily defined in terms of their topographic signature.

Depth profile measurement with lenslet images of the plenoptic camera

NASA Astrophysics Data System (ADS)

Yang, Peng; Wang, Zhaomin; Zhang, Wei; Zhao, Hongying; Qu, Weijuan; Zhao, Haimeng; Asundi, Anand; Yan, Lei

2018-03-01

An approach for carrying out depth profile measurement of an object with the plenoptic camera is proposed. A single plenoptic image consists of multiple lenslet images. To begin with, these images are processed directly with a refocusing technique to obtain the depth map, which does not need to align and decode the plenoptic image. Then, a linear depth calibration is applied based on the optical structure of the plenoptic camera for depth profile reconstruction. One significant improvement of the proposed method concerns the resolution of the depth map. Unlike the traditional method, our resolution is not limited by the number of microlenses inside the camera, and the depth map can be globally optimized. We validated the method with experiments on depth map reconstruction, depth calibration, and depth profile measurement, with the results indicating that the proposed approach is both efficient and accurate.

Integrating critical interface elements for intuitive single-display aviation control of UAVs

NASA Astrophysics Data System (ADS)

Cooper, Joseph L.; Goodrich, Michael A.

2006-05-01

Although advancing levels of technology allow UAV operators to give increasingly complex commands with expanding temporal scope, it is unlikely that the need for immediate situation awareness and local, short-term flight adjustment will ever be completely superseded. Local awareness and control are particularly important when the operator uses the UAV to perform a search or inspection task. There are many different tasks which would be facilitated by search and inspection capabilities of a camera-equipped UAV. These tasks range from bridge inspection and news reporting to wilderness search and rescue. The system should be simple, inexpensive, and intuitive for non-pilots. An appropriately designed interface should (a) provide a context for interpreting video and (b) support UAV tasking and control, all within a single display screen. In this paper, we present and analyze an interface that attempts to accomplish this goal. The interface utilizes a georeferenced terrain map rendered from publicly available altitude data and terrain imagery to create a context in which the location of the UAV and the source of the video are communicated to the operator. Rotated and transformed imagery from the UAV provides a stable frame of reference for the operator and integrates cleanly into the terrain model. Simple icons overlaid onto the main display provide intuitive control and feedback when necessary but fade to a semi-transparent state when not in use to avoid distracting the operator's attention from the video signal. With various interface elements integrated into a single display, the interface runs nicely on a small, portable, inexpensive system with a single display screen and simple input device, but is powerful enough to allow a single operator to deploy, control, and recover a small UAV when coupled with appropriate autonomy. As we present elements of the interface design, we will identify concepts that can be leveraged into a large class of UAV applications.

New Vocabulary: Araneiform and Lace Terrains

NASA Technical Reports Server (NTRS)

2007-01-01

[figure removed for brevity, see original site] [figure removed for brevity, see original site] Figure 1Figure 2

The south polar terrain on Mars contains landforms unlike any that we see on Earth, so much that a new vocabulary is required to describe them. The word 'araneiform' means 'spider-like.' There are radially organized channels on Mars that look spider-like, but we don't want to confuse anyone by talking about 'spiders' when we really mean 'channels,' not 'bugs.'

The first subimage (figure 1) shows an example of 'connected araneiform topography,' terrain that is filled with spider-like channels whose arms branch and connect to each other. Gas flows through these channels until it encounters a vent, where is escapes out to the atmosphere, carrying dust along with it. The dark dust is blown around by the prevailing wind.

The second subimage (figure 2) shows a different region of the same image where the channels are not radially organized. In this region they form a dense tangled network of tortuous strands. We refer to this as 'lace.'

Observation Geometry Image PSP_002651_0930 was taken by the High Resolution Imaging Science Experiment (HiRISE) camera onboard the Mars Reconnaissance Orbiter spacecraft on 18-Feb-2007. The complete image is centered at -86.9 degrees latitude, 97.2 degrees East longitude. The range to the target site was 268.7 km (167.9 miles). At this distance the image scale is 53.8 cm/pixel (with 2 x 2 binning) so objects 161 cm across are resolved. The image shown here has been map-projected to 50 cm/pixel . The image was taken at a local Mars time of 04:56 PM and the scene is illuminated from the west with a solar incidence angle of 86 degrees, thus the sun was about 4 degrees above the horizon. At a solar longitude of 186.4 degrees, the season on Mars is Northern Autumn.

Vesta surface thermal properties map

USGS Publications Warehouse

Capria, Maria Teresa; Tosi, F.; De Santis, Maria Cristina; Capaccioni, F.; Ammannito, E.; Frigeri, A.; Zambon, F; Fonte, S.; Palomba, E.; Turrini, D.; Titus, T.N.; Schroder, S.E.; Toplis, M.J.; Liu, J.Y.; Combe, J.-P.; Raymond, C.A.; Russell, C.T.

2014-01-01

The first ever regional thermal properties map of Vesta has been derived from the temperatures retrieved by infrared data by the mission Dawn. The low average value of thermal inertia, 30 ± 10 J m−2 s−0.5 K−1, indicates a surface covered by a fine regolith. A range of thermal inertia values suggesting terrains with different physical properties has been determined. The lower thermal inertia of the regions north of the equator suggests that they are covered by an older, more processed surface. A few specific areas have higher than average thermal inertia values, indicative of a more compact material. The highest thermal inertia value has been determined on the Marcia crater, known for its pitted terrain and the presence of hydroxyl in the ejecta. Our results suggest that this type of terrain can be the result of soil compaction following the degassing of a local subsurface reservoir of volatiles.

Real-time method for establishing a detection map for a network of sensors

DOEpatents

Nguyen, Hung D; Koch, Mark W; Giron, Casey; Rondeau, Daniel M; Russell, John L

2012-09-11

A method for establishing a detection map of a dynamically configurable sensor network. This method determines an appropriate set of locations for a plurality of sensor units of a sensor network and establishes a detection map for the network of sensors while the network is being set up; the detection map includes the effects of the local terrain and individual sensor performance. Sensor performance is characterized during the placement of the sensor units, which enables dynamic adjustment or reconfiguration of the placement of individual elements of the sensor network during network set-up to accommodate variations in local terrain and individual sensor performance. The reconfiguration of the network during initial set-up to accommodate deviations from idealized individual sensor detection zones improves the effectiveness of the sensor network in detecting activities at a detection perimeter and can provide the desired sensor coverage of an area while minimizing unintentional gaps in coverage.

Towards a Postmodern Theory of Moral Education. Part II: Mapping the Terrain (Zygmunt Bauman's Postmodern Ethics).

ERIC Educational Resources Information Center

Biesta, Gert J. J.; Stams, Geert-Jan J. M.

The project of which this paper is a part consists of three steps. The first step (an American Educational Research Association (AERA) Conference 2000 paper subtitled "Clearing the Terrain") provided a critical overview of current debates on moral development and education, focusing on the relationship between empirical and theoretical…

Terrain and landform influence on Tsuga canadensis (L.) Carriere (Eastern Hemlock) distribution in the southern Appalachian Mountains

Treesearch

G. Narayanaraj; P.V. Bolstad; K.J. Elliott; J.M. Vose

2010-01-01

We examined the relationships between hemlock distribution and abundance and terrain attributes for the Coweeta Basin in the southern Appalachian Mountains. Field measurements were combined with GIS mapping methods to develop predictive models of abundance and distribution of Tsuga canadensis (L.) Carriere (eastern hemlock) and evaluate the co-...

The fretted terrain of the Nilosyrtis Mensae region of Mars: Clues to the timing of dichotomy formation and the emplacement of the northern plains

NASA Technical Reports Server (NTRS)

Detroye, Jeff E.; Williams, Steven H.

1994-01-01

Geologic mapping of the fretted terrain of the Nilosyrtis Mensae region of Mars has revealed geomorphic evidence that the breakup of the plateau units to the south of Nilosyrtis occurred well before the plains units to the north were emplaced in the late Hesperian time. The plains units were deposited against the fretted terrain which has undergone some modification by mass wasting but not significant backwasting. The morphology observed at the contact between plains and the fretted terrain is consistent with that expected where the edge of a pile of sedimentary debris has undergone mass wasting and other erosion.

Development of the geoCamera, a System for Mapping Ice from a Ship

NASA Astrophysics Data System (ADS)

Arsenault, R.; Clemente-Colon, P.

2012-12-01

The geoCamera produces maps of the ice surrounding an ice-capable ship by combining images from one or more digital cameras with the ship's position and attitude data. Maps are produced along the ship's path with the achievable width and resolution depending on camera mounting height as well as camera resolution and lens parameters. Our system has produced maps up to 2000m wide at 1m resolution. Once installed and calibrated, the system is designed to operate automatically producing maps in near real-time and making them available to on-board users via existing information systems. The resulting small-scale maps complement existing satellite based products as well as on-board observations. Development versions have temporarily been deployed in Antarctica on the RV Nathaniel B. Palmer in 2010 and in the Arctic on the USCGC Healy in 2011. A permanent system has been deployed during the summer of 2012 on the USCGC Healy. To make the system attractive to other ships of opportunity, design goals include using existing ship systems when practical, using low costs commercial-off-the-shelf components if additional hardware is necessary, automating the process to virtually eliminate adding to the workload of ships technicians and making the software components modular and flexible enough to allow more seamless integration with a ships particular IT system.

Immersive Virtual Moon Scene System Based on Panoramic Camera Data of Chang'E-3

NASA Astrophysics Data System (ADS)

Gao, X.; Liu, J.; Mu, L.; Yan, W.; Zeng, X.; Zhang, X.; Li, C.

2014-12-01

The system "Immersive Virtual Moon Scene" is used to show the virtual environment of Moon surface in immersive environment. Utilizing stereo 360-degree imagery from panoramic camera of Yutu rover, the system enables the operator to visualize the terrain and the celestial background from the rover's point of view in 3D. To avoid image distortion, stereo 360-degree panorama stitched by 112 images is projected onto inside surface of sphere according to panorama orientation coordinates and camera parameters to build the virtual scene. Stars can be seen from the Moon at any time. So we render the sun, planets and stars according to time and rover's location based on Hipparcos catalogue as the background on the sphere. Immersing in the stereo virtual environment created by this imaged-based rendering technique, the operator can zoom, pan to interact with the virtual Moon scene and mark interesting objects. Hardware of the immersive virtual Moon system is made up of four high lumen projectors and a huge curve screen which is 31 meters long and 5.5 meters high. This system which take all panoramic camera data available and use it to create an immersive environment, enable operator to interact with the environment and mark interesting objects contributed heavily to establishment of science mission goals in Chang'E-3 mission. After Chang'E-3 mission, the lab with this system will be open to public. Besides this application, Moon terrain stereo animations based on Chang'E-1 and Chang'E-2 data will be showed to public on the huge screen in the lab. Based on the data of lunar exploration，we will made more immersive virtual moon scenes and animations to help the public understand more about the Moon in the future.

Samara Probe For Remote Imaging

NASA Technical Reports Server (NTRS)

Burke, James D.

1989-01-01

Imaging probe descends through atmosphere of planet, obtaining images of ground surface as it travels. Released from aircraft over Earth or from spacecraft over another planet. Body and single wing shaped like samara - winged seed like those of maple trees. Rotates as descends, providing panoramic view of terrain below. Radio image obtained by video camera to aircraft or spacecraft overhead.

Measuring fire behavior with photography

Treesearch

Hubert B. Clements; Darold E. Ward; Carl W. Adkins

1983-01-01

Photography is practical for recording and measuring some aspects of forest fire behavior if the scale and perspective can be determined. This paper describes a photogrammetric method for measuring flame height and rate of spread for fires on flat terrain. The flames are photographed at known times with a camera in front of the advancing fire. Scale and perspective of...

Geomorphological Map of the South Belet Region of Titan: An Exploration of Mid-Latitude-to-Pole Transition Zones

NASA Astrophysics Data System (ADS)

Schoenfeld, A.; Lopes, R.; Malaska, M.; Solomonidou, A.

2017-12-01

We carried out detailed geomorphological mapping of Titan's mid-latitude region south of the Belet Sand Sea. We used radar data collected by Cassini's Synthetic Aperture Radar (SAR) as our basemap, supplemented by images from VIMS, ISS, SARtopo, and microwave emissivity datasets. We mapped at a scale of 1:800,000 in all areas of the South Belet region covered by SAR swaths, taking into consideration the 300 m/pixel resolution of the swaths. For the mid-latitudes, we have defined five broad classes of terrains following Malaska et al. (2015). These terrain classes are craters, hummocky/mountainous, labyrinth, plains, and dunes. We have found that the hummocky/mountainous terrains are the oldest, with a radiometric signature consistent with icy materials. Dunes are the youngest units and return a radiometric signature consistent with organic sediments. We find that the South Belet region is covered primarily by the dune and plain units typical of Titan's mid-latitudes (Malaska et al. 2015). Previous mapping efforts of the mid-latitude regions of Titan (Lopes et al. 2016; Malaska et al. 2015) have indicated that these regions are predominately modified and influenced by aeolian activities. A plains unit designated "scalloped plains" is prominently featured between the 50°S and 60°S latitudes of this region. In this area we also find a terrain unit designated "dark irregular plains" that has been interpreted as damp materials saturated with liquid hydrocarbons (Malaska et al 2015; Hayes et al. 2008). We also note a higher occurrence of fluvial channels starting at this latitude zone and extending poleward. We suggest that these features demark the transition zone between mid-latitude/equatorial aeolian-dominated processes and fluvial-dominated processes prevailing at the poles.

Lidar Systems for Precision Navigation and Safe Landing on Planetary Bodies

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Pierrottet, Diego F.; Petway, Larry B.; Hines, Glenn D.; Roback, Vincent E.

2011-01-01

The ability of lidar technology to provide three-dimensional elevation maps of the terrain, high precision distance to the ground, and approach velocity can enable safe landing of robotic and manned vehicles with a high degree of precision. Currently, NASA is developing novel lidar sensors aimed at needs of future planetary landing missions. These lidar sensors are a 3-Dimensional Imaging Flash Lidar, a Doppler Lidar, and a Laser Altimeter. The Flash Lidar is capable of generating elevation maps of the terrain that indicate hazardous features such as rocks, craters, and steep slopes. The elevation maps collected during the approach phase of a landing vehicle, at about 1 km above the ground, can be used to determine the most suitable safe landing site. The Doppler Lidar provides highly accurate ground relative velocity and distance data allowing for precision navigation to the landing site. Our Doppler lidar utilizes three laser beams pointed to different directions to measure line of sight velocities and ranges to the ground from altitudes of over 2 km. Throughout the landing trajectory starting at altitudes of about 20 km, the Laser Altimeter can provide very accurate ground relative altitude measurements that are used to improve the vehicle position knowledge obtained from the vehicle navigation system. At altitudes from approximately 15 km to 10 km, either the Laser Altimeter or the Flash Lidar can be used to generate contour maps of the terrain, identifying known surface features such as craters, to perform Terrain relative Navigation thus further reducing the vehicle s relative position error. This paper describes the operational capabilities of each lidar sensor and provides a status of their development. Keywords: Laser Remote Sensing, Laser Radar, Doppler Lidar, Flash Lidar, 3-D Imaging, Laser Altimeter, Precession Landing, Hazard Detection

Development of LIDAR sensor systems for autonomous safe landing on planetary bodies

NASA Astrophysics Data System (ADS)

Amzajerdian, F.; Pierrottet, D.; Petway, L.; Vanek, M.

2017-11-01

Future NASA exploratory missions to the Moon and Mars will require safe soft-landings at the designated sites with a high degree of precision. These sites may include areas of high scientific value with relatively rough terrain with little or no solar illumination and possibly areas near pre-deployed assets. The ability of lidar technology to provide three-dimensional elevation maps of the terrain, high precision distance to the ground, and approach velocity can enable safe landing of large robotic and manned vehicles with a high degree of precision. Currently, NASA-LaRC is developing novel lidar sensors aimed at meeting NASA's objectives for future planetary landing missions under the Autonomous Landing and Hazard Avoidance (ALHAT) project. These lidar sensors are 3-Dimensional Imaging Flash Lidar, Doppler Lidar, and Laser Altimeter. The Flash Lidar is capable of generating elevation maps of the terrain identifying hazardous features such as rocks, craters, and steep slopes. The elevation maps collected during the approach phase between 1000 m to 500 m above the ground can be used to determine the most suitable safe landing site. The Doppler Lidar provides highly accurate ground velocity and distance data allowing for precision navigation to the selected landing site. Prior to the approach phase at altitudes of over 15 km, the Laser Altimeter can provide sufficient data for updating the vehicle position and attitude data from the Inertial Measurement Unit. At these higher altitudes, either the Laser Altimeter or the Flash Lidar can be used for generating a contour map of the terrain below for identifying known surface features such as craters for further reducing the vehicle relative position error.

Development of lidar sensor systems for autonomous safe landing on planetary bodies

NASA Astrophysics Data System (ADS)

Amzajerdian, F.; Pierrottet, D.; Petway, L.; Vanek, M.

2017-11-01

Future NASA exploratory missions to the Moon and Mars will require safe soft-landings at the designated sites with a high degree of precision. These sites may include areas of high scientific value with relatively rough terrain with little or no solar illumination and possibly areas near pre-deployed assets. The ability of lidar technology to provide three-dimensional elevation maps of the terrain, high precision distance to the ground, and approach velocity can enable safe landing of large robotic and manned vehicles with a high degree of precision. Currently, NASA-LaRC is developing novel lidar sensors aimed at meeting NASA's objectives for future planetary landing missions under the Autonomous Landing and Hazard Avoidance (ALHAT) project [1]. These lidar sensors are 3-Dimensional Imaging Flash Lidar, Doppler Lidar, and Laser Altimeter. The Flash Lidar is capable of generating elevation maps of the terrain identifying hazardous features such as rocks, craters, and steep slopes. The elevation maps collected during the approach phase between 1000 m to 500 m above the ground can be used to determine the most suitable safe landing site. The Doppler Lidar provides highly accurate ground velocity and distance data allowing for precision navigation to the selected landing site. Prior to the approach phase at altitudes of over 15 km, the Laser Altimeter can provide sufficient data for updating the vehicle position and attitude data from the Inertial Measurement Unit. At these higher altitudes, either the Laser Altimeter or the Flash Lidar can be used for generating a contour map of the terrain below for identifying known surface features such as craters for further reducing the vehicle relative position error.

Iterative Refinement of Transmission Map for Stereo Image Defogging Using a Dual Camera Sensor.

PubMed

Kim, Heegwang; Park, Jinho; Park, Hasil; Paik, Joonki

2017-12-09

Recently, the stereo imaging-based image enhancement approach has attracted increasing attention in the field of video analysis. This paper presents a dual camera-based stereo image defogging algorithm. Optical flow is first estimated from the stereo foggy image pair, and the initial disparity map is generated from the estimated optical flow. Next, an initial transmission map is generated using the initial disparity map. Atmospheric light is then estimated using the color line theory. The defogged result is finally reconstructed using the estimated transmission map and atmospheric light. The proposed method can refine the transmission map iteratively. Experimental results show that the proposed method can successfully remove fog without color distortion. The proposed method can be used as a pre-processing step for an outdoor video analysis system and a high-end smartphone with a dual camera system.

Iterative Refinement of Transmission Map for Stereo Image Defogging Using a Dual Camera Sensor

PubMed Central

Park, Jinho; Park, Hasil

2017-01-01

Recently, the stereo imaging-based image enhancement approach has attracted increasing attention in the field of video analysis. This paper presents a dual camera-based stereo image defogging algorithm. Optical flow is first estimated from the stereo foggy image pair, and the initial disparity map is generated from the estimated optical flow. Next, an initial transmission map is generated using the initial disparity map. Atmospheric light is then estimated using the color line theory. The defogged result is finally reconstructed using the estimated transmission map and atmospheric light. The proposed method can refine the transmission map iteratively. Experimental results show that the proposed method can successfully remove fog without color distortion. The proposed method can be used as a pre-processing step for an outdoor video analysis system and a high-end smartphone with a dual camera system. PMID:29232826

Comparison of manually produced and automated cross country movement maps using digital image processing techniques

NASA Technical Reports Server (NTRS)

Wynn, L. K.

1985-01-01

The Image-Based Information System (IBIS) was used to automate the cross country movement (CCM) mapping model developed by the Defense Mapping Agency (DMA). Existing terrain factor overlays and a CCM map, produced by DMA for the Fort Lewis, Washington area, were digitized and reformatted into geometrically registered images. Terrain factor data from Slope, Soils, and Vegetation overlays were entered into IBIS, and were then combined utilizing IBIS-programmed equations to implement the DMA CCM model. The resulting IBIS-generated CCM map was then compared with the digitized manually produced map to test similarity. The numbers of pixels comprising each CCM region were compared between the two map images, and percent agreement between each two regional counts was computed. The mean percent agreement equalled 86.21%, with an areally weighted standard deviation of 11.11%. Calculation of Pearson's correlation coefficient yielded +9.997. In some cases, the IBIS-calculated map code differed from the DMA codes: analysis revealed that IBIS had calculated the codes correctly. These highly positive results demonstrate the power and accuracy of IBIS in automating models which synthesize a variety of thematic geographic data.

Geological terrain models

NASA Technical Reports Server (NTRS)

Kaupp, V. H.; Macdonald, H. C.; Waite, W. P.

1981-01-01

The initial phase of a program to determine the best interpretation strategy and sensor configuration for a radar remote sensing system for geologic applications is discussed. In this phase, terrain modeling and radar image simulation were used to perform parametric sensitivity studies. A relatively simple computer-generated terrain model is presented, and the data base, backscatter file, and transfer function for digital image simulation are described. Sets of images are presented that simulate the results obtained with an X-band radar from an altitude of 800 km and at three different terrain-illumination angles. The simulations include power maps, slant-range images, ground-range images, and ground-range images with statistical noise incorporated. It is concluded that digital image simulation and computer modeling provide cost-effective methods for evaluating terrain variations and sensor parameter changes, for predicting results, and for defining optimum sensor parameters.

The impact of geo-tagging on the photo industry and creating revenue streams

NASA Astrophysics Data System (ADS)

Richter, Rolf; Böge, Henning; Weckmann, Christoph; Schloen, Malte

2010-02-01

Internet geo and mapping services like Google Maps, Google Earth and Microsoft Bing Maps have reinvented the use of geographical information and have reached an enormous popularity. Besides that, location technologies like GPS have become affordable and are now being integrated in many camera phones. GPS is also available for standalone cameras as add on products or integrated in cameras. These developments are the enabler for new products for the photo industry or they enhance existing products. New commercial opportunities have been identified in the areas of photo hardware, internet/software and photo finishing.

University of Pennsylvania MAGIC 2010 Final Report

DTIC Science & Technology

2011-01-10

and mapping ( SLAM ) techniques are employed to build a local map of the environment surrounding the robot. Readings from the two complementary LIDAR sen...IMU, LIDAR , Cameras Localization Disrupter UGV Local Navigation Sensors: GPS, IMU, LIDAR , Cameras Laser Control Localization Task Planner Strategy/Plan...various components shown in Figure 2. This is comprised of the following subsystems: • Sensor UGV: Mobile UGVs with LIDAR and camera sensors, GPS, and

Landscape Heterogeneity mapping for Access to Tribal health care in Nilgiris District of Tamil Nadu, India

NASA Astrophysics Data System (ADS)

Brindha, B.; Prashanthi Devi, M.

2014-11-01

The Nilgiris district in Tamilnadu has a rich biodiversity in terms of flora, fauna and ethnic population. The district is basically a mountainous region, situated at an elevation of 2000 to 2,600 meters above MSL and constituting of several hill and Steep Mountain valleys. This region houses six tribes who are mainly forest dwellers and live in close settlements depending on the forest resources for their livelihood. The Tribes of Nilgiris have been diagnosed and monitored for Sickle cell Anemia which is a disease of major concern among these ethnic populations. This genetic disorder developed due to the sickling of Red Blood Cells has increased during the past few decades. The Tribes, as they live in close encounter with the forest regions and have strict social cultural barriers, face difficulty in availing treatment or counseling from the Sickle Cell Research Center (SCRC) and other NGOs like NAWA and AHWINI in the region. It was observed that many factors such as landscape terrain, climatic conditions and improper roads tend to hinder the access to appropriate health care. The SCRC in Gudalur region is a facility established to monitor the disease cases inspite of these influencing factors. On analyzing the year bound age wise classification among male and female patients, certain dropouts in cases were observed which may be due to inaccessible condition or migration of the patient. In our study, Landscape heterogeneity mapping for different climatic seasons was done in ArcGIS 10.1. For this, contour and terrain maps, road networks and villages were prepared and factors that determine Terrain Difficulty were assessed. Vegetation mapping using IRS satellite images for the study region was attempted and associated with the landscape map. A risk analysis was proposed based on terrain difficulty and access to the nearest Health care Center. Based on this, the above factors alternate routes were suggested to access the difficult areas.

Mapping the Sedna-Lavinia Region of Venus

NASA Technical Reports Server (NTRS)

Campbell, Bruce A.; Anderson, Ross F.

2008-01-01

Geologic mapping of Venus at 1:5 M scale has shown in great detail the flow complexes of volcanoes, coronae, and shield fields, and the varying structural patterns that differentiate tesserae from corona rims and isolated patches of densely lineated terrain. In most cases, however, the lower-elevation plains between the higher-standing landforms are discriminated only on the basis of potentially secondary features such as late-stage lava flooding or tectonic overprinting. This result, in which volcanoes and tesserae appear as "islands in the sea," places weak constraints on the relative age of large upland regions and the nature of the basement terrain. In this work, we focus on the spatial distribution and topography of densely lineated and tessera units over a large region of Venus, and their relationship to apparently later corona and shield flow complexes. The goal is to identify likely connections between patches of deformed terrain that suggest earlier features of regional extent, and to compare the topography of linked patches with other such clusters as a guide to whether they form larger tracts beneath the plains. Mapping Approach. We are mapping the region from 57S to 57N, 300E-60E. Since the 1:5 M quadrangles emphasize detail of tessera structure and corona/edifice flows, we simply adopt the outlines of these features as they relate to the outcrops of either "densely lineated terrain" or tessera (Fig. 1). The densely lineated material is mapped in many quadrangles based on pervasive structural deformation, typically with a single major axis (in contrast to the overlapping orthogonal patterns on tesserae). This unit definition is often extended to include material of corona rims. We do not at present differentiate between plains units, since earlier efforts show that their most defining attributes may be secondary to the original emplacement (e.g., lobate or sheet-like flooding by thin flow units, tectonic patterns related to regional and localized stress regimes) [1].

Landslide Hazard Map of The Upper Tiber River Basin, Central Italy

NASA Astrophysics Data System (ADS)

Cardinali, M.; Carrara, A.; Guzzetti, F.; Reichenbach, P.

For the Upper Tiber River basin, which extends over 4000 km2 in Central Italy, a landslide hazard map was derived from a statistical model based on a mix of morpho- logical, lithological, structural and land use data. All these data were obtained from the analysis of different sets of aerial photographs, ranging in scale from 1:33,000 to 1:13,000, systematic field surveys and bibliographical information. Rock types were grouped in 37 units on the basis of the hard vs. soft rock percentage, as as- certained from photo-geological interpretation and field surveys. During the photo- interpretation, the spatial relations between bedding plane attitude and slope aspect were also systematically determined. The landslide inventory map recognised 17,600 slope-failures that cover nearly 12.5% of the basin area. Landslides, which are mainly slide flow slide earth-flow and compound or complex movements, were classified and mapped as shallow or deep seated. A DTM, with a grid resolution of 25x25 m, was derived from digitised contour lines of base topographic maps, 1:25,000.in scale. The basin was then automatically partitioned into nearly 16,000 main slope-units through a specifically-designed software module that, starting from a high quality DTM gen- erates fully connected and complementary drainage and divide networks and a wide spectrum of morphometric parameters. Main slope-units were then subdivided accord- ing to the major rock types cropping out in the basin generating over 28,700 hydro- morphological-lithological terrain-units. Using the presence/absence of landslide in each terrain unit, as the grouping variable, a stepwise discriminant function was ap- plied to the terrain units. of the 50 variables entered into the discriminant function, 15 are lithological, 15 morphological, 11 express the structural setting or bedding plane attitude, 7 refer to land use and the last 2 reflect local climatic conditions. The model proved to be capable of correctly classifying as stable or unstable over 75% of the terrain units.

Depth estimation and camera calibration of a focused plenoptic camera for visual odometry

NASA Astrophysics Data System (ADS)

Zeller, Niclas; Quint, Franz; Stilla, Uwe

2016-08-01

This paper presents new and improved methods of depth estimation and camera calibration for visual odometry with a focused plenoptic camera. For depth estimation we adapt an algorithm previously used in structure-from-motion approaches to work with images of a focused plenoptic camera. In the raw image of a plenoptic camera, scene patches are recorded in several micro-images under slightly different angles. This leads to a multi-view stereo-problem. To reduce the complexity, we divide this into multiple binocular stereo problems. For each pixel with sufficient gradient we estimate a virtual (uncalibrated) depth based on local intensity error minimization. The estimated depth is characterized by the variance of the estimate and is subsequently updated with the estimates from other micro-images. Updating is performed in a Kalman-like fashion. The result of depth estimation in a single image of the plenoptic camera is a probabilistic depth map, where each depth pixel consists of an estimated virtual depth and a corresponding variance. Since the resulting image of the plenoptic camera contains two plains: the optical image and the depth map, camera calibration is divided into two separate sub-problems. The optical path is calibrated based on a traditional calibration method. For calibrating the depth map we introduce two novel model based methods, which define the relation of the virtual depth, which has been estimated based on the light-field image, and the metric object distance. These two methods are compared to a well known curve fitting approach. Both model based methods show significant advantages compared to the curve fitting method. For visual odometry we fuse the probabilistic depth map gained from one shot of the plenoptic camera with the depth data gained by finding stereo correspondences between subsequent synthesized intensity images of the plenoptic camera. These images can be synthesized totally focused and thus finding stereo correspondences is enhanced. In contrast to monocular visual odometry approaches, due to the calibration of the individual depth maps, the scale of the scene can be observed. Furthermore, due to the light-field information better tracking capabilities compared to the monocular case can be expected. As result, the depth information gained by the plenoptic camera based visual odometry algorithm proposed in this paper has superior accuracy and reliability compared to the depth estimated from a single light-field image.

Improved mapping of National Atmospheric Deposition Program wet-deposition in complex terrain using PRISM-gridded data sets

USGS Publications Warehouse

Latysh, Natalie E.; Wetherbee, Gregory Alan

2012-01-01

High-elevation regions in the United States lack detailed atmospheric wet-deposition data. The National Atmospheric Deposition Program/National Trends Network (NADP/NTN) measures and reports precipitation amounts and chemical constituent concentration and deposition data for the United States on annual isopleth maps using inverse distance weighted (IDW) interpolation methods. This interpolation for unsampled areas does not account for topographic influences. Therefore, NADP/NTN isopleth maps lack detail and potentially underestimate wet deposition in high-elevation regions. The NADP/NTN wet-deposition maps may be improved using precipitation grids generated by other networks. The Parameter-elevation Regressions on Independent Slopes Model (PRISM) produces digital grids of precipitation estimates from many precipitation-monitoring networks and incorporates influences of topographical and geographical features. Because NADP/NTN ion concentrations do not vary with elevation as much as precipitation depths, PRISM is used with unadjusted NADP/NTN data in this paper to calculate ion wet deposition in complex terrain to yield more accurate and detailed isopleth deposition maps in complex terrain. PRISM precipitation estimates generally exceed NADP/NTN precipitation estimates for coastal and mountainous regions in the western United States. NADP/NTN precipitation estimates generally exceed PRISM precipitation estimates for leeward mountainous regions in Washington, Oregon, and Nevada, where abrupt changes in precipitation depths induced by topography are not depicted by IDW interpolation. PRISM-based deposition estimates for nitrate can exceed NADP/NTN estimates by more than 100% for mountainous regions in the western United States.

Improved mapping of National Atmospheric Deposition Program wet-deposition in complex terrain using PRISM-gridded data sets.

PubMed

Latysh, Natalie E; Wetherbee, Gregory Alan

2012-01-01

High-elevation regions in the United States lack detailed atmospheric wet-deposition data. The National Atmospheric Deposition Program/National Trends Network (NADP/NTN) measures and reports precipitation amounts and chemical constituent concentration and deposition data for the United States on annual isopleth maps using inverse distance weighted (IDW) interpolation methods. This interpolation for unsampled areas does not account for topographic influences. Therefore, NADP/NTN isopleth maps lack detail and potentially underestimate wet deposition in high-elevation regions. The NADP/NTN wet-deposition maps may be improved using precipitation grids generated by other networks. The Parameter-elevation Regressions on Independent Slopes Model (PRISM) produces digital grids of precipitation estimates from many precipitation-monitoring networks and incorporates influences of topographical and geographical features. Because NADP/NTN ion concentrations do not vary with elevation as much as precipitation depths, PRISM is used with unadjusted NADP/NTN data in this paper to calculate ion wet deposition in complex terrain to yield more accurate and detailed isopleth deposition maps in complex terrain. PRISM precipitation estimates generally exceed NADP/NTN precipitation estimates for coastal and mountainous regions in the western United States. NADP/NTN precipitation estimates generally exceed PRISM precipitation estimates for leeward mountainous regions in Washington, Oregon, and Nevada, where abrupt changes in precipitation depths induced by topography are not depicted by IDW interpolation. PRISM-based deposition estimates for nitrate can exceed NADP/NTN estimates by more than 100% for mountainous regions in the western United States.

Strike-Slip Faulting Processes on Ganymede: Global Morphological Mapping and Structural Interpretation of Grooved and Transitional Terrains

NASA Astrophysics Data System (ADS)

Burkhard, L. M.; Cameron, M. E.; Smith-Konter, B. R.; Seifert, F.; Pappalardo, R. T.; Collins, G. C.

2015-12-01

Ganymede's fractured surface reveals many large-scale, morphologically distinct regions of inferred distributed shear and strike-slip faulting that may be important to the structural development of its surface and in the transition from dark to light (grooved) materials. To better understand the role of strike-slip tectonism in shaping Ganymede's complex icy surface, we perform a detailed mapping of key examples of strike-slip morphologies (i.e., en echelon structures, strike-slip duplexes, laterally offset pre-existing features, and possible strained craters) from Galileo and Voyager images. We focus on complex structures associated with grooved terrain (e.g. Nun Sulcus, Dardanus Sulcus, Tiamat Sulcus, and Arbela Sulcus) and terrains transitional from dark to light terrain (e.g. the boundary between Nippur Sulcus and Marius Regio, including Byblus Sulcus and Philus Sulcus). Detailed structural interpretations suggest strong evidence of strike-slip faulting in some regions (i.e., Nun and Dardanus Sulcus); however, further investigation of additional strike-slip structures is required of less convincing regions (i.e., Byblus Sulcus). Where applicable, these results are synthesized into a global database representing an inferred sense of shear for many of Ganymede's fractures. Moreover, when combined with existing observations of extensional features, these results help to narrow down the range of possible principal stress directions that could have acted at the regional or global scale to produce grooved terrain on Ganymede.

Calibration and accuracy analysis of a focused plenoptic camera

NASA Astrophysics Data System (ADS)

Zeller, N.; Quint, F.; Stilla, U.

2014-08-01

In this article we introduce new methods for the calibration of depth images from focused plenoptic cameras and validate the results. We start with a brief description of the concept of a focused plenoptic camera and how from the recorded raw image a depth map can be estimated. For this camera, an analytical expression of the depth accuracy is derived for the first time. In the main part of the paper, methods to calibrate a focused plenoptic camera are developed and evaluated. The optical imaging process is calibrated by using a method which is already known from the calibration of traditional cameras. For the calibration of the depth map two new model based methods, which make use of the projection concept of the camera are developed. These new methods are compared to a common curve fitting approach, which is based on Taylor-series-approximation. Both model based methods show significant advantages compared to the curve fitting method. They need less reference points for calibration than the curve fitting method and moreover, supply a function which is valid in excess of the range of calibration. In addition the depth map accuracy of the plenoptic camera was experimentally investigated for different focal lengths of the main lens and is compared to the analytical evaluation.

Testing of the Apollo 15 Metric Camera System.

NASA Technical Reports Server (NTRS)

Helmering, R. J.; Alspaugh, D. H.

1972-01-01

Description of tests conducted (1) to assess the quality of Apollo 15 Metric Camera System data and (2) to develop production procedures for total block reduction. Three strips of metric photography over the Hadley Rille area were selected for the tests. These photographs were utilized in a series of evaluation tests culminating in an orbitally constrained block triangulation solution. Results show that film deformations up to 25 and 5 microns are present in the mapping and stellar materials, respectively. Stellar reductions can provide mapping camera orientations with an accuracy that is consistent with the accuracies of other parameters in the triangulation solutions. Pointing accuracies of 4 to 10 microns can be expected for the mapping camera materials, depending on variations in resolution caused by changing sun angle conditions.

NetMap: a new tool in support of watershed science and resource management.

Treesearch

L. Benda; D. Miller; K. Andras; P. Bigelow; G. Reeves; D. Michael

2007-01-01

In this paper, we show how application of principles of river ecology can guide use of a comprehensive terrain database within geographic information system (GIS) to facilitate watershed analysis relevant to natural resource management. We present a unique arrangement of a terrain database, GIS, and principles of riverine ecology for the purpose of advancing watershed...

Performance evaluation of a quasi-microscope for planetary landers

NASA Technical Reports Server (NTRS)

Burcher, E. E.; Huck, F. O.; Wall, S. D.; Woehrle, S. B.

1977-01-01

Spatial resolutions achieved with cameras on lunar and planetary landers have been limited to about 1 mm, whereas microscopes of the type proposed for such landers could have obtained resolutions of about 1 um but were never accepted because of their complexity and weight. The quasi-microscope evaluated in this paper could provide intermediate resolutions of about 10 um with relatively simple optics that would augment a camera, such as the Viking lander camera, without imposing special design requirements on the camera of limiting its field of view of the terrain. Images of natural particulate samples taken in black and white and in color show that grain size, shape, and texture are made visible for unconsolidated materials in a 50- to 500-um size range. Such information may provide broad outlines of planetary surface mineralogy and allow inferences to be made of grain origin and evolution. The mineralogical descriptions of single grains would be aided by the reflectance spectra that could, for example, be estimated from the six-channel multispectral data of the Viking lander camera.

Segmentation of stereo terrain images

NASA Astrophysics Data System (ADS)

George, Debra A.; Privitera, Claudio M.; Blackmon, Theodore T.; Zbinden, Eric; Stark, Lawrence W.

2000-06-01

We have studied four approaches to segmentation of images: three automatic ones using image processing algorithms and a fourth approach, human manual segmentation. We were motivated toward helping with an important NASA Mars rover mission task -- replacing laborious manual path planning with automatic navigation of the rover on the Mars terrain. The goal of the automatic segmentations was to identify an obstacle map on the Mars terrain to enable automatic path planning for the rover. The automatic segmentation was first explored with two different segmentation methods: one based on pixel luminance, and the other based on pixel altitude generated through stereo image processing. The third automatic segmentation was achieved by combining these two types of image segmentation. Human manual segmentation of Martian terrain images was used for evaluating the effectiveness of the combined automatic segmentation as well as for determining how different humans segment the same images. Comparisons between two different segmentations, manual or automatic, were measured using a similarity metric, SAB. Based on this metric, the combined automatic segmentation did fairly well in agreeing with the manual segmentation. This was a demonstration of a positive step towards automatically creating the accurate obstacle maps necessary for automatic path planning and rover navigation.

Review of 3d GIS Data Fusion Methods and Progress

NASA Astrophysics Data System (ADS)

Hua, Wei; Hou, Miaole; Hu, Yungang

2018-04-01

3D data fusion is a research hotspot in the field of computer vision and fine mapping, and plays an important role in fine measurement, risk monitoring, data display and other processes. At present, the research of 3D data fusion in the field of Surveying and mapping focuses on the 3D model fusion of terrain and ground objects. This paper summarizes the basic methods of 3D data fusion of terrain and ground objects in recent years, and classified the data structure and the establishment method of 3D model, and some of the most widely used fusion methods are analysed and commented.

Satellite radars for geologic mapping in tropical regions

NASA Technical Reports Server (NTRS)

Ford, J. P.; Sabins, F. F.

1987-01-01

This paper presents interpretations of the satellite radar images of cloud-covered portions of Indonesia and Amazonia obtained from NASA's Shuttle imaging radar experiments in 1981 (SIR-A) and 1984 (SIR-B). It was found that different terrain categories observed from distinctive image textures correlate well with major lithologic associations. The images show geologic structures at regional and local scales. The SIR-B images of East Kalimantan, Indonesia, reveal structural features and terrain distributions that had been overlooked or not perceived in previous surface mapping. Variability in radar response from the vegetation cover is interpretable only in coastal areas or alluvial areas that are relatively level.

Deciphering groundwater potential zones in hard rock terrain using geospatial technology.

PubMed

Dar, Imran A; Sankar, K; Dar, Mithas A

2011-02-01

Remote sensing and geographical information system (GIS) has become one of the leading tools in the field of groundwater research, which helps in assessing, monitoring, and conserving groundwater resources. This paper mainly deals with the integrated approach of remote sensing and GIS to delineate groundwater potential zones in hard rock terrain. Digitized vector maps pertaining to chosen parameters, viz. geomorphology, geology, land use/land cover, lineament, relief, and drainage, were converted to raster data using 23 m×23 m grid cell size. Moreover, curvature of the study area was also considered while manipulating the spatial data. The raster maps of these parameters were assigned to their respective theme weight and class weights. The individual theme weight was multiplied by its respective class weight and then all the raster thematic layers were aggregated in a linear combination equation in Arc Map GIS Raster Calculator module. Moreover, the weighted layers were statistically modeled to get the areal extent of groundwater prospects with respect to each thematic layer. The final result depicts the favorable prospective zones in the study area and can be helpful in better planning and management of groundwater resources especially in hard rock terrains.

Formulation of image quality prediction criteria for the Viking lander camera

NASA Technical Reports Server (NTRS)

Huck, F. O.; Jobson, D. J.; Taylor, E. J.; Wall, S. D.

1973-01-01

Image quality criteria are defined and mathematically formulated for the prediction computer program which is to be developed for the Viking lander imaging experiment. The general objective of broad-band (black and white) imagery to resolve small spatial details and slopes is formulated as the detectability of a right-circular cone with surface properties of the surrounding terrain. The general objective of narrow-band (color and near-infrared) imagery to observe spectral characteristics if formulated as the minimum detectable albedo variation. The general goal to encompass, but not exceed, the range of the scene radiance distribution within single, commandable, camera dynamic range setting is also considered.

Integrating remote sensing and terrain data in forest fire modeling

NASA Astrophysics Data System (ADS)

Medler, Michael Johns

Forest fire policies are changing. Managers now face conflicting imperatives to re-establish pre-suppression fire regimes, while simultaneously preventing resource destruction. They must, therefore, understand the spatial patterns of fires. Geographers can facilitate this understanding by developing new techniques for mapping fire behavior. This dissertation develops such techniques for mapping recent fires and using these maps to calibrate models of potential fire hazards. In so doing, it features techniques that strive to address the inherent complexity of modeling the combinations of variables found in most ecological systems. Image processing techniques were used to stratify the elements of terrain, slope, elevation, and aspect. These stratification images were used to assure sample placement considered the role of terrain in fire behavior. Examination of multiple stratification images indicated samples were placed representatively across a controlled range of scales. The incorporation of terrain data also improved preliminary fire hazard classification accuracy by 40%, compared with remotely sensed data alone. A Kauth-Thomas transformation (KT) of pre-fire and post-fire Thematic Mapper (TM) remotely sensed data produced brightness, greenness, and wetness images. Image subtraction indicated fire induced change in brightness, greenness, and wetness. Field data guided a fuzzy classification of these change images. Because fuzzy classification can characterize a continuum of a phenomena where discrete classification may produce artificial borders, fuzzy classification was found to offer a range of fire severity information unavailable with discrete classification. These mapped fire patterns were used to calibrate a model of fire hazards for the entire mountain range. Pre-fire TM, and a digital elevation model produced a set of co-registered images. Training statistics were developed from 30 polygons associated with the previously mapped fire severity. Fuzzy classifications of potential burn patterns were produced from these images. Observed field data values were displayed over the hazard imagery to indicate the effectiveness of the model. Areas that burned without suppression during maximum fire severity are predicted best. Areas with widely spaced trees and grassy understory appear to be misrepresented, perhaps as a consequence of inaccuracies in the initial fire mapping.

A reactive system for open terrain navigation: Performance and limitations

NASA Technical Reports Server (NTRS)

Langer, D.; Rosenblatt, J.; Hebert, M.

1994-01-01

We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of 'early traversability evaluation', and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.

Terrain profiling from Seasat altimetry

NASA Technical Reports Server (NTRS)

Brooks, R. L.

1981-01-01

To determine their applicability for terrain profiling, Seasat altimeter measurements were analyzed for the following geographic areas: (1) Andean salars of southern Bolivia; (2) Alaska; (3) south-central Arizona; (4) imperial Valley of California; (5) Yuma Valley of Arizona; and (6) Great Salt Lake Desert. Analysis of the data over all of these geographic areas shows that the satellite altimeter servo did not respond quickly enough to changing terrain features. However, it is demonstrated that retracking of the archived surface return waveforms yields surface elevations over smooth terrain accurate to + or - 1 m when correlated with large scale maps. The retracking algorithm used and its verification over the salars of southern Bolivia are described. Results are presented for each of the six geographic areas.

Mosaic of Apollo 16 Descartes landing site taken from TV transmission

NASA Technical Reports Server (NTRS)

1972-01-01

A 360 degree field of view of the Apollo 16 Descartes landing site area composed of individual scenes taken from a color transmission made by the color RCA TV camera mounted on the Lunar Roving Vehicle. This panorama was made while the LRV was parked at the rim of North Ray crater (Stations 11 and 12) during the third Apollo 16 lunar surface extravehicular activity (EVA-3) by Astronauts John W. Young and Charles M. Duke Jr. The overlay identifies the directions and the key lunar terrain features. The camera panned across the rear portion of the LRV in its 360 degree sweep. Note Young and Duke walking along the edge of the crater in one of the scenes. The TV camera was remotely controlled from a console in the Mission Control Center.

Cartography for lunar exploration: 2008 status and mission plans

USGS Publications Warehouse

Kirk, R.L.; Archinal, B.A.; Gaddis, L.R.; Rosiek, M.R.; Chen, Jun; Jiang, Jie; Nayak, Shailesh

2008-01-01

The initial spacecraft exploration of the Moon in the 1960s-70s yielded extensive data, primarily in the form of film and television images, which were used to produce a large number of hardcopy maps by conventional techniques. A second era of exploration, beginning in the early 1990s, has produced digital data including global multispectral imagery and altimetry, from which a new generation of digital map products tied to a rapidly evolving global control network has been made. Efforts are also underway to scan the earlier hardcopy maps for online distribution and to digitize the film images so that modern processing techniques can be used to make high-resolution digital terrain models (DTMs) and image mosaics consistent with the current global control. The pace of lunar exploration is accelerating dramatically, with as many as eight new missions already launched or planned for the current decade. These missions, of which the most important for cartography are SMART-1 (Europe), Kaguya/SELENE (Japan), Chang'e-1 (China), Chandrayaan-1 (India), and Lunar Reconnaissance Orbiter (USA), will return a volume of data exceeding that of all previous lunar and planetary missions combined. Framing and scanner camera images, including multispectral and stereo data, hyperspectral images, synthetic aperture radar (SAR) images, and laser altimetry will all be collected, including, in most cases, multiple data sets of each type. Substantial advances in international standardization and cooperation, development of new and more efficient data processing methods, and availability of resources for processing and archiving will all be needed if the next generation of missions are to fulfill their potential for high-precision mapping of the Moon in support of subsequent exploration and scientific investigation.

Scoping of Flood Hazard Mapping Needs for Merrimack County, New Hampshire

DTIC Science & Technology

2006-01-01

DOQ Digital Orthophoto Quadrangle DOQQ Digital Ortho Quarter Quadrangle DTM Digital Terrain Model FBFM Flood Boundary and Floodway Map FEMA Federal...discussed available data and coverages within New Hampshire (for example, 2003 National Agriculture Imag- ery Program (NAIP) color Digital Orthophoto ... orthophotos providing improved base map accuracy. NH GRANIT is presently converting the standard, paper FIRMs and Flood Boundary and Floodway maps (FBFMs

Changing Predictors of Map Use in Wayfinding.

ERIC Educational Resources Information Center

Scholnick, Ellin Kofsky; And Others

Using a map for guiding travel requires: (1) skills in encoding information from a terrain and a map; (2) finding a match between the two; and (3) maintaining the match despite directional shifts from turns on a route. In order to test this analysis, 94 children between the ages of 4 and 6 used maps to locate the route to a goal through a network…

Integrating Map Algebra and Statistical Modeling for Spatio- Temporal Analysis of Monthly Mean Daily Incident Photosynthetically Active Radiation (PAR) over a Complex Terrain.

PubMed

Evrendilek, Fatih

2007-12-12

This study aims at quantifying spatio-temporal dynamics of monthly mean dailyincident photosynthetically active radiation (PAR) over a vast and complex terrain such asTurkey. The spatial interpolation method of universal kriging, and the combination ofmultiple linear regression (MLR) models and map algebra techniques were implemented togenerate surface maps of PAR with a grid resolution of 500 x 500 m as a function of fivegeographical and 14 climatic variables. Performance of the geostatistical and MLR modelswas compared using mean prediction error (MPE), root-mean-square prediction error(RMSPE), average standard prediction error (ASE), mean standardized prediction error(MSPE), root-mean-square standardized prediction error (RMSSPE), and adjustedcoefficient of determination (R² adj. ). The best-fit MLR- and universal kriging-generatedmodels of monthly mean daily PAR were validated against an independent 37-year observeddataset of 35 climate stations derived from 160 stations across Turkey by the Jackknifingmethod. The spatial variability patterns of monthly mean daily incident PAR were moreaccurately reflected in the surface maps created by the MLR-based models than in thosecreated by the universal kriging method, in particular, for spring (May) and autumn(November). The MLR-based spatial interpolation algorithms of PAR described in thisstudy indicated the significance of the multifactor approach to understanding and mappingspatio-temporal dynamics of PAR for a complex terrain over meso-scales.

Colors and Photometry of Bright Materials on Vesta as Seen by the Dawn Framing Camera

NASA Technical Reports Server (NTRS)

Schroeder, S. E.; Li, J.-Y.; Mittlefehldt, D. W.; Pieters, C. M.; De Sanctis, M. C.; Hiesinger, H.; Blewett, D. T.; Russell, C. T.; Raymond, C. A.; Keller, H. U.;

Evaluation of ERTS-1 imagery for mapping Quaternary deposits and landforms in the Great Plains and Midwest

NASA Technical Reports Server (NTRS)

Morrison, R. B. (Principal Investigator); Hallberg, G. R.

1973-01-01

The author has identified the following significant results. The main landform associations and larger landforms are readily identifiable on the better images and commonly the gross associations of surficial Quaternary deposits also can be determined primarily by information on landforms and soils (obtained by analysis of stream dissection and drainage and stream-divide patterns, land use patterns, etc.). Maps showing the Quaternary geologic-terrain units that can be distinguished on the ERTS-1 images are being prepared for study areas in Illinois, Iowa, Missouri, Kansas, Nebraska, and South Dakota. Preliminary maps of 1:1,000,000 scale are included for three of the study areas: the Grand Island and Fremont, Nebraska, and the Davenport, Iowa-Illinois, 1 deg x 2 deg quadrangles. These maps exemplify the first phase of investigations, which consists of identifying and mapping landform and land use characteristics and geologic-surficial materials directly from the ERTS-1 images alone, with no additional information. These maps show that commonly the boundaries of geologic-terrain units can be delineated more accurately on ERTS-1 images than on topographic maps at 1:250,000 scale.

Implicit multiplane 3D camera calibration matrices for stereo image processing

NASA Astrophysics Data System (ADS)

McKee, James W.; Burgett, Sherrie J.

1997-12-01

By implicit camera calibration, we mean the process of calibrating cameras without explicitly computing their physical parameters. We introduce a new implicit model based on a generalized mapping between an image plane and multiple, parallel calibration planes (usually between four to seven planes). This paper presents a method of computing a relationship between a point on a three-dimensional (3D) object and its corresponding two-dimensional (2D) coordinate in a camera image. This relationship is expanded to form a mapping of points in 3D space to points in image (camera) space and visa versa that requires only matrix multiplication operations. This paper presents the rationale behind the selection of the forms of four matrices and the algorithms to calculate the parameters for the matrices. Two of the matrices are used to map 3D points in object space to 2D points on the CCD camera image plane. The other two matrices are used to map 2D points on the image plane to points on user defined planes in 3D object space. The mappings include compensation for lens distortion and measurement errors. The number of parameters used can be increased, in a straight forward fashion, to calculate and use as many parameters as needed to obtain a user desired accuracy. Previous methods of camera calibration use a fixed number of parameters which can limit the obtainable accuracy and most require the solution of nonlinear equations. The procedure presented can be used to calibrate a single camera to make 2D measurements or calibrate stereo cameras to make 3D measurements. Positional accuracy of better than 3 parts in 10,000 have been achieved. The algorithms in this paper were developed and are implemented in MATLABR (registered trademark of The Math Works, Inc.). We have developed a system to analyze the path of optical fiber during high speed payout (unwinding) of optical fiber off a bobbin. This requires recording and analyzing high speed (5 microsecond exposure time), synchronous, stereo images of the optical fiber during payout. A 3D equation for the fiber at an instant in time is calculated from the corresponding pair of stereo images as follows. In each image, about 20 points along the 2D projection of the fiber are located. Each of these 'fiber points' in one image is mapped to its projection line in 3D space. Each projection line is mapped into another line in the second image. The intersection of each mapped projection line and a curve fitted to the fiber points of the second image (fiber projection in second image) is calculated. Each intersection point is mapped back to the 3D space. A 3D fiber coordinate is formed from the intersection, in 3D space, of a mapped intersection point with its corresponding projection line. The 3D equation for the fiber is computed from this ordered list of 3D coordinates. This process requires a method of accurately mapping 2D (image space) to 3D (object space) and visa versa.3173

The M3 project

NASA Astrophysics Data System (ADS)

Poulet, Francois; Carter, John; Riu, Lucie; Martinez, Antoine; Bibring, Jean-Pierre; Gondet, Brigitte; Langevin, Yves

2017-10-01

An essential part of revealing the past conditions that occurred at the surface of Mars is determining its mineralogy. Igneous compositions can provide insight into mechanisms such as crustal formation, magma differentiation and volcanic activity, while clays, salts and other altered phases can constrain the past liquid water environments on/near the surface. The visible near-infrared imaging spectrometer OMEGA on board the ESA Mars Express mission provided major steps in our understanding of the composition of the Martian surface by mapping anhydrous and hydrated minerals (Riu et al. 2017; Carter et al. 2017). The ultimate step in interpreting IR OMEGA data is a quantitative retrieval of mineral abundances from the modeling of spectra of selected terrains. So far, such an approach was performed on restricted areas of the surface using a radiative transfer model (Poulet et al., 2009, 2014). The purpose of the M3 (Modal Mineralogy of Mars) project is thus to provide global distributions of Martian surface minerals using previous OMEGA investigations, and to distribute the mineral maps to the science community through the web portal PSUP (Poulet et al. 2017). Two types of terrains are considered: type 1: mafic-bearing ones; type 2: hydrated deposits.For type-1 terrains, a 3-D global image cube was constructed containing atmospheric- and aerosol-corrected NIR spectra distributed over 32px/° and +/-60° of latitude with a surface coverage of 90%. NIR reflectance spectra were modeled to retrieve mineral abundances and particle grain sizes of the mafic-bearing terrains. This work is completed with final maps presented this year (Riu et al. 2017).For type-2 terrains, a specific approach is required. First, signatures of hydrated minerals are detected for each single OMEGA cube. Second, the spectral modeling is applied to each pixel and then the modeled abundances are averaged when overlapping observations occur for a specific location. The validation of this approach has been performed on two regions that exhibit the greatest mineral diversity of hydrated minerals on Mars: Nilo-Syrtis region and Mawrth Vallis/Oxia Planum region. Mineral maps of various hydrated and primary phases will be presented.

Pre-flight and On-orbit Geometric Calibration of the Lunar Reconnaissance Orbiter Camera

NASA Astrophysics Data System (ADS)

Speyerer, E. J.; Wagner, R. V.; Robinson, M. S.; Licht, A.; Thomas, P. C.; Becker, K.; Anderson, J.; Brylow, S. M.; Humm, D. C.; Tschimmel, M.

2016-04-01

The Lunar Reconnaissance Orbiter Camera (LROC) consists of two imaging systems that provide multispectral and high resolution imaging of the lunar surface. The Wide Angle Camera (WAC) is a seven color push-frame imager with a 90∘ field of view in monochrome mode and 60∘ field of view in color mode. From the nominal 50 km polar orbit, the WAC acquires images with a nadir ground sampling distance of 75 m for each of the five visible bands and 384 m for the two ultraviolet bands. The Narrow Angle Camera (NAC) consists of two identical cameras capable of acquiring images with a ground sampling distance of 0.5 m from an altitude of 50 km. The LROC team geometrically calibrated each camera before launch at Malin Space Science Systems in San Diego, California and the resulting measurements enabled the generation of a detailed camera model for all three cameras. The cameras were mounted and subsequently launched on the Lunar Reconnaissance Orbiter (LRO) on 18 June 2009. Using a subset of the over 793000 NAC and 207000 WAC images of illuminated terrain collected between 30 June 2009 and 15 December 2013, we improved the interior and exterior orientation parameters for each camera, including the addition of a wavelength dependent radial distortion model for the multispectral WAC. These geometric refinements, along with refined ephemeris, enable seamless projections of NAC image pairs with a geodetic accuracy better than 20 meters and sub-pixel precision and accuracy when orthorectifying WAC images.

Learning and Prediction of Slip from Visual Information

NASA Technical Reports Server (NTRS)

Angelova, Anelia; Matthies, Larry; Helmick, Daniel; Perona, Pietro

2007-01-01

This paper presents an approach for slip prediction from a distance for wheeled ground robots using visual information as input. Large amounts of slippage which can occur on certain surfaces, such as sandy slopes, will negatively affect rover mobility. Therefore, obtaining information about slip before entering such terrain can be very useful for better planning and avoiding these areas. To address this problem, terrain appearance and geometry information about map cells are correlated to the slip measured by the rover while traversing each cell. This relationship is learned from previous experience, so slip can be predicted remotely from visual information only. The proposed method consists of terrain type recognition and nonlinear regression modeling. The method has been implemented and tested offline on several off-road terrains including: soil, sand, gravel, and woodchips. The final slip prediction error is about 20%. The system is intended for improved navigation on steep slopes and rough terrain for Mars rovers.

Dry Ice Etches Terrain

NASA Technical Reports Server (NTRS)

2007-01-01

[figure removed for brevity, see original site] Figure 1

Every year seasonal carbon dioxide ice, known to us as 'dry ice,' covers the poles of Mars. In the south polar region this ice is translucent, allowing sunlight to pass through and warm the surface below. The ice then sublimes (evaporates) from the bottom of the ice layer, and carves channels in the surface.

The channels take on many forms. In the subimage shown here (figure 1) the gas from the dry ice has etched wide shallow channels. This region is relatively flat, which may be the reason these channels have a different morphology than the 'spiders' seen in more hummocky terrain.

Observation Geometry Image PSP_003364_0945 was taken by the High Resolution Imaging Science Experiment (HiRISE) camera onboard the Mars Reconnaissance Orbiter spacecraft on 15-Apr-2007. The complete image is centered at -85.4 degrees latitude, 104.0 degrees East longitude. The range to the target site was 251.5 km (157.2 miles). At this distance the image scale is 25.2 cm/pixel (with 1 x 1 binning) so objects 75 cm across are resolved. The image shown here has been map-projected to 25 cm/pixel . The image was taken at a local Mars time of 06:57 PM and the scene is illuminated from the west with a solar incidence angle of 75 degrees, thus the sun was about 15 degrees above the horizon. At a solar longitude of 219.6 degrees, the season on Mars is Northern Autumn.

Cryptic Terrain on Mars

NASA Technical Reports Server (NTRS)

2007-01-01

[figure removed for brevity, see original site] Figure 1

There is an enigmatic region near the south pole of Mars known as the 'cryptic' terrain. It stays cold in the spring, even as its albedo darkens and the sun rises in the sky.

This region is covered by a layer of translucent seasonal carbon dioxide ice that warms and evaporates from below. As carbon dioxide gas escapes from below the slab of seasonal ice it scours dust from the surface. The gas vents to the surface, where the dust is carried downwind by the prevailing wind.

The channels carved by the escaping gas are often radially organized and are known informally as 'spiders' (figure 1).

Observation Geometry Image PSP_003179_0945 was taken by the High Resolution Imaging Science Experiment (HiRISE) camera onboard the Mars Reconnaissance Orbiter spacecraft on 01-Apr-2007. The complete image is centered at -85.4 degrees latitude, 104.0 degrees East longitude. The range to the target site was 245.9 km (153.7 miles). At this distance the image scale is 49.2 cm/pixel (with 2 x 2 binning) so objects 148 cm across are resolved. The image shown here has been map-projected to 50 cm/pixel . The image was taken at a local Mars time of 06:19 PM and the scene is illuminated from the west with a solar incidence angle of 78 degrees, thus the sun was about 12 degrees above the horizon. At a solar longitude of 210.8 degrees, the season on Mars is Northern Autumn.

PRECONSTRUCTION IMAGE OF THE MTR SITE. ABANDONED IRRIGATION CANAL (FROM ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

PRE-CONSTRUCTION IMAGE OF THE MTR SITE. ABANDONED IRRIGATION CANAL (FROM EARLY 1900s) ILLUSTRATES FLATNESS OF MTR/TRA TERRAIN. FEATURE ON HORIZON IN LEFT OF VIEW IS EXPLORATORY WATER DRILLING EQUIPMENT. CAMERA LOOKS SOUTHEAST. INL NEGATIVE NO. 136. Unknown Photographer, 12/5/1949 - Idaho National Engineering Laboratory, Test Reactor Area, Materials & Engineering Test Reactors, Scoville, Butte County, ID

Egomotion Estimation with Optic Flow and Air Velocity Sensors

DTIC Science & Technology

2012-01-22

RUMMELT ADAM J. RUTKOWSKI Acting Technical Advisor, RWW Program Manager This report is...method of distance and groundspeed estimation using an omnidirectional camera, but knowledge of the average scene distance is required. Flight height...varying wind and even over sloped terrain. Our method also does not require any prior knowledge of the environment or the flyer motion states. This

Imminent Approach to Dione

NASA Image and Video Library

2015-08-20

This view from NASA Cassini spacecraft looks toward Saturn icy moon Dione, with giant Saturn and its rings in the background, just prior to the mission final close approach to the moon on August 17, 2015. At lower right is the large, multi-ringed impact basin named Evander, which is about 220 miles (350 kilometers) wide. The canyons of Padua Chasma, features that form part of Dione's bright, wispy terrain, reach into the darkness at left. Imaging scientists combined nine visible light (clear spectral filter) images to create this mosaic view: eight from the narrow-angle camera and one from the wide-angle camera, which fills in an area at lower left. The scene is an orthographic projection centered on terrain at 0.2 degrees north latitude, 179 degrees west longitude on Dione. An orthographic view is most like the view seen by a distant observer looking through a telescope. North on Dione is up. The view was acquired at distances ranging from approximately 106,000 miles (170,000 kilometers) to 39,000 miles (63,000 kilometers) from Dione and at a sun-Dione-spacecraft, or phase, angle of 35 degrees. Image scale is about 1,500 feet (450 meters) per pixel. http://photojournal.jpl.nasa.gov/catalog/PIA19650

Low Albedo Surfaces and Eolian Sediment: Mars Orbiter Camera Views of Western Arabia Terra Craters and Wind Streaks

NASA Technical Reports Server (NTRS)

Edgett, Kenneth S.

2001-01-01

High spatial resolution (1.5 to 12 m/pixel) Mars Global Surveyor Mars Orbiter Camera images obtained September 1997 through June 2001 indicate that the large, dark wind streaks of western Arabia Terra each originate at a barchan dune field on a crater floor. The streaks consist of a relatively thin coating of sediment deflated from the dune fields and their vicinity. This sediment drapes a previous mantle that more thickly covers nearly all of western Arabia Terra. No dunes or eolian bedforms are found within the dark wind streaks, nor do any of the intracrater dunes climb up crater walls to provide sand to the wind streaks. The relations between dunes, wind streak, and subjacent terrain imply that dark-toned grains finer than those which comprise the dunes are lifted into suspension and carried out of the craters to be deposited on the adjacent terrain. Such grains are most likely in the silt size range (3.9-62.5 micrometers). The streaks change in terms of extent, relative albedo, and surface pattern over periods measured in years, but very little evidence for recent eolian activity (dust plumes, storms, dune movement) has been observed.

Generation of topographic terrain models utilizing synthetic aperture radar and surface level data

NASA Technical Reports Server (NTRS)

Imhoff, Marc L. (Inventor)

1991-01-01

Topographical terrain models are generated by digitally delineating the boundary of the region under investigation from the data obtained from an airborne synthetic aperture radar image and surface elevation data concurrently acquired either from an airborne instrument or at ground level. A set of coregistered boundary maps thus generated are then digitally combined in three dimensional space with the acquired surface elevation data by means of image processing software stored in a digital computer. The method is particularly applicable for generating terrain models of flooded regions covered entirely or in part by foliage.

Radar Based Navigation in Unknown Terrain

DTIC Science & Technology

2012-12-31

localization and mapping ( SLAM ) approach. The radar processing algorithms detect strong, persistent, and stationary reflectors embedded in the...Global System for Mobile Communications . . . . . . . . . 2 LIDAR Light Detection and Ranging . . . . . . . . . . . . . . . . 2 SAR Synthetic Aperture...22 SLAM Simultaneous Localization and Mapping . . . . . . . . . . 25 FDM Frequency Division Multiplexing

Building a Geologic Map of Neptune's Moon Triton

NASA Astrophysics Data System (ADS)

Martin, E. S.; Patthoff, D. A.; Bland, M. T.; Watters, T. R.; Collins, G. C.; Becker, T.

2018-06-01

Triton serves as a bridge between KBOs and icy satellites, and characterization of its terrains is important for advancing comparative planetological studies. We aim to create a geologic map of the Neptune-facing side of Triton at a scale of 1:5M.

Site assessment using echo sounding, side scan sonar and sub-bottom profiling.

DOT National Transportation Integrated Search

2014-02-01

The primary objective of this research is to use multifaceted geophysical data techniques in order to better map karst terrain beneath : standing bodies of water. This study may help providing stronger mapping techniques for future bridge and dam con...

Tetlin National Wildlife Refuge land cover mapping project users guide

USGS Publications Warehouse

Markon, Carl J.

1987-01-01

The U. S. Fish & Wildlife Service (USFWS) has the responsibility for collecting the resource information to address the research, management, development and planning requirements identified in Section 304. Because of the brief period provided by the Act for data collection, habitat mapping, and habitat assessment, the USFWS in cooperation with the U.S. Geological Survey's EROS Field Office, used digital Landsat multispectral scanner data (MSS) and digital terrain data to produce land cover and terrain maps. A computer assisted digital analysis of Landsat MSS data was used because coverage by aerial photographs was incomplete for much of the refuge and because the level of detail, obtained from the analysis of Landsat data, is adequate to meet most USFWS research, management and planning needs. Relative cost and time requirements were also factors in the decision to use the digital analysis approach.

Selawik National Wildlife Refuge land cover mapping project users guide

USGS Publications Warehouse

Markon, Carl J.

1988-01-01

The U.S. Fish & Wildlife Service (USFWS) has the responsibility for collecting the resource information to address the research, management, development and planning requirements identified in Section 304. Because of the brief period provided by the Act for data collection, habitat mapping, and habitat assessment, the USFWS in cooperation with the U.S. Geological Survey's EROS Field Office, used digital Landsat multispectral scanner (MSS) data and digital terrain data to produce land cover and terrain maps. A computer assisted digital analysis of Landsat MSS data was used because coverage by aerial photographs was incomplete for the refuge and because the level of detail obtained from Landsat data was adequate to meet most USFWS research, management and planning needs. Relative cost and time requirements were also factors in the decision to use the digital analysis approach.

Yukon Flats National Wildlife Refuge land cover mapping project users guide

USGS Publications Warehouse

Markon, Carl J.

1987-01-01

The U. S. Fish & Wildlife Service (USFWS) has the responsibility for collecting the resource information to address the research, management, development and planning requirements identified in Section 304. Because of the brief period provided by the Act for data collection, habitat mapping, and habitat assessment, the USFWS in cooperation with the U.S. Geological Survey's EROS Field Office, used digital Landsat multispectral scanner (MSS) data and digital terrain data to produce land cover and terrain maps. A computer assisted digital analysis of Landsat MSS data was used because coverage by aerial photographs was incomplete for much of the refuge and because the level of detail obtained from Landsat data was adequate to meet most USFWS research, management and planning needs. Relative cost and time requirements were also factors in the decision to use the digital analysis approach.

Coincidence velocity map imaging using Tpx3Cam, a time stamping optical camera with 1.5 ns timing resolution

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhao, Arthur; van Beuzekom, Martin; Bouwens, Bram

Here, we demonstrate a coincidence velocity map imaging apparatus equipped with a novel time-stamping fast optical camera, Tpx3Cam, whose high sensitivity and nanosecond timing resolution allow for simultaneous position and time-of-flight detection. This single detector design is simple, flexible, and capable of highly differential measurements. We show detailed characterization of the camera and its application in strong field ionization experiments.

Coincidence velocity map imaging using Tpx3Cam, a time stamping optical camera with 1.5 ns timing resolution

DOE PAGES

Zhao, Arthur; van Beuzekom, Martin; Bouwens, Bram; ...

2017-11-07

Here, we demonstrate a coincidence velocity map imaging apparatus equipped with a novel time-stamping fast optical camera, Tpx3Cam, whose high sensitivity and nanosecond timing resolution allow for simultaneous position and time-of-flight detection. This single detector design is simple, flexible, and capable of highly differential measurements. We show detailed characterization of the camera and its application in strong field ionization experiments.

Modelling Soil-Landscapes in Coastal California Hills Using Fine Scale Terrestrial Lidar

NASA Astrophysics Data System (ADS)

Prentice, S.; Bookhagen, B.; Kyriakidis, P. C.; Chadwick, O.

2013-12-01

Digital elevation models (DEMs) are the dominant input to spatially explicit digital soil mapping (DSM) efforts due to their increasing availability and the tight coupling between topography and soil variability. Accurate characterization of this coupling is dependent on DEM spatial resolution and soil sampling density, both of which may limit analyses. For example, DEM resolution may be too coarse to accurately reflect scale-dependent soil properties yet downscaling introduces artifactual uncertainty unrelated to deterministic or stochastic soil processes. We tackle these limitations through a DSM effort that couples moderately high density soil sampling with a very fine scale terrestrial lidar dataset (20 cm) implemented in a semiarid rolling hillslope domain where terrain variables change rapidly but smoothly over short distances. Our guiding hypothesis is that in this diffusion-dominated landscape, soil thickness is readily predicted by continuous terrain attributes coupled with catenary hillslope segmentation. We choose soil thickness as our keystone dependent variable for its geomorphic and hydrologic significance, and its tendency to be a primary input to synthetic ecosystem models. In defining catenary hillslope position we adapt a logical rule-set approach that parses common terrain derivatives of curvature and specific catchment area into discrete landform elements (LE). Variograms and curvature-area plots are used to distill domain-scale terrain thresholds from short range order noise characteristic of very fine-scale spatial data. The revealed spatial thresholds are used to condition LE rule-set inputs, rendering a catenary LE map that leverages the robustness of fine-scale terrain data to create a generalized interpretation of soil geomorphic domains. Preliminary regressions show that continuous terrain variables alone (curvature, specific catchment area) only partially explain soil thickness, and only in a subset of soils. For example, at spatial scales up 20, curvature explains 40% of soil thickness variance among soils <3 m deep, while soils >3 m deep show no clear relation to curvature. To further demonstration our geomorphic segmentation approach, we apply it to DEM domains where diffusion processes are less dominant than in our primary study area. Classified landform map derived from fine scale terrestrial lidar. Color classes depict hydrogeomorphic process domains in zero order watersheds.

The Segmentation of Point Clouds with K-Means and ANN (artifical Neural Network)

NASA Astrophysics Data System (ADS)

Kuçak, R. A.; Özdemir, E.; Erol, S.

2017-05-01

Segmentation of point clouds is recently used in many Geomatics Engineering applications such as the building extraction in urban areas, Digital Terrain Model (DTM) generation and the road or urban furniture extraction. Segmentation is a process of dividing point clouds according to their special characteristic layers. The present paper discusses K-means and self-organizing map (SOM) which is a type of ANN (Artificial Neural Network) segmentation algorithm which treats the segmentation of point cloud. The point clouds which generate with photogrammetric method and Terrestrial Lidar System (TLS) were segmented according to surface normal, intensity and curvature. Thus, the results were evaluated. LIDAR (Light Detection and Ranging) and Photogrammetry are commonly used to obtain point clouds in many remote sensing and geodesy applications. By photogrammetric method or LIDAR method, it is possible to obtain point cloud from terrestrial or airborne systems. In this study, the measurements were made with a Leica C10 laser scanner in LIDAR method. In photogrammetric method, the point cloud was obtained from photographs taken from the ground with a 13 MP non-metric camera.

Animation of Site of Seasonal Flows in Hale Crater, Mars

NASA Image and Video Library

2015-09-28

This frame from an animation simulates a fly-around look at one of the places on Mars where dark streaks advance down slopes during warm seasons, possibly involving liquid water. The streaks are roughly the length of a football field. The imaging and topographical information used in this false-color animation come from the High Resolution Imaging Science Experiment (HiRISE) camera on NASA's Mars Reconnaissance Orbiter. These dark features on the slopes are called "recurring slope lineae" or RSL. Planetary scientists using observations with the Compact Reconnaissance Imaging Spectrometer on the same orbiter detected hydrated salts on these slopes at Hale Crater, corroborating the hypothesis that the streaks are formed by briny liquid water. The image was produced by first creating a 3-D computer model (a digital terrain map) of the area based on stereo information from two HiRISE observations, and then draping a false-color image over the land-shape model. The vertical dimension is exaggerated by a factor of 1.5 compared to horizontal dimensions. http://photojournal.jpl.nasa.gov/catalog/PIA19919

Up Close and Personal

NASA Image and Video Library

2014-05-08

This image is one of the highest-resolution MDIS observations to date! Many craters of varying degradation states are visible, as well as gentle terrain undulations. Very short exposure times are needed to make these low-altitude observations while the spacecraft is moving quickly over the surface; thus the images are slightly noisier than typical MDIS images. This image was acquired as a high-resolution targeted observation. Targeted observations are images of a small area on Mercury's surface at resolutions much higher than the 200-meter/pixel morphology base map. It is not possible to cover all of Mercury's surface at this high resolution, but typically several areas of high scientific interest are imaged in this mode each week. Date acquired: March 15, 2014 Image Mission Elapsed Time (MET): 37173522 Image ID: 5936740 Instrument: Narrow Angle Camera (NAC) of the Mercury Dual Imaging System (MDIS) Center Latitude: 71.91° Center Longitude: 232.7° E Resolution: 5 meters/pixel Scale: The image is approximately 8.3 km (5.2 mi.) across. Incidence Angle: 79.4° Emission Angle: 4.0° Phase Angle: 83.4° http://photojournal.jpl.nasa.gov/catalog/PIA18370

South Polar Scarps

NASA Technical Reports Server (NTRS)

2003-01-01

MGS MOC Release No. MOC2-438, 31 July 2003

The terrain of the south polar residual ice cap, made up mostly of frozen carbon dioxide, has come to be known by many as 'swiss cheese terrain,' because many areas of the cap resemble slices of swiss cheese. However, not all of the south polar cap looks like a tasty lunch food. This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows a series of curving scarps formed by erosion and sublimation of carbon dioxide from the south polar cap. This area is located near 86.3oS, 51.2oW. The image is illuminated by sunlight from the upper left; the area is about 1.5 km (0.9 mi) wide.

Frames of reference for helicopter electronic maps - The relevance of spatial cognition and componential analysis

NASA Technical Reports Server (NTRS)

Harwood, Kelly; Wickens, Christopher D.

1991-01-01

Computer-generated map displays for NOE and low-level helicopter flight were formed according to prior research on maps, navigational problem solving, and spatial cognition in large-scale environments. The north-up map emphasized consistency of object location, wheareas, the track-up map emphasized map-terrain congruency. A component analysis indicates that different cognitive components, e.g., orienting and absolute object location, are supported to varying degrees by properties of different frames of reference.

Morphological characterization of coral reefs by combining lidar and MBES data: A case study from Yuanzhi Island, South China Sea

NASA Astrophysics Data System (ADS)

Zhang, Kai; Yang, Fanlin; Zhang, Hande; Su, Dianpeng; Li, QianQian

2017-06-01

The correlation between seafloor morphological features and biological complexity has been identified in numerous recent studies. This research focused on the potential for accurate characterization of coral reefs based on high-resolution bathymetry from multiple sources. A standard deviation (STD) based method for quantitatively characterizing terrain complexity was developed that includes robust estimation to correct for irregular bathymetry and a calibration for the depth-dependent variablity of measurement noise. Airborne lidar and shipborne sonar bathymetry measurements from Yuanzhi Island, South China Sea, were merged to generate seamless high-resolution coverage of coral bathymetry from the shoreline to deep water. The new algorithm was applied to the Yuanzhi Island surveys to generate maps of quantitive terrain complexity, which were then compared to in situ video observations of coral abundance. The terrain complexity parameter is significantly correlated with seafloor coral abundance, demonstrating the potential for accurately and efficiently mapping coral abundance through seafloor surveys, including combinations of surveys using different sensors.

Mars on 25 December 2003

NASA Technical Reports Server (NTRS)

2004-01-01

8 January 2004 This is how Mars appeared to the Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) wide angle system on 25 December 2003, the day that Beagle 2 and Mars Express reached the red planet. The large, dark region just left of center is Syrtis Major, a persistent low albedo terrain known to astronomers for nearly four centuries before the first spacecraft went to Mars. Immediately to the right (east) of Syrtis Major is the somewhat circular plain, Isidis Planitia. Beagle 2 arrived in Isidis Planitia only about 18 minutes before Mars Global Surveyor flew over the region and acquired a portion of this global view. Relative to other global images of Mars acquired by MGS over the past several martian years, the surface features were not as sharp and distinct on 25 December 2003 because of considerable haze kicked up by large dust storms in the western and southern hemispheres during th previous two weeks. The picture is a composite of several MGS MOC red and blue daily global images that have been map-projected and digitally wrapped to a sphere. Although the effect here is minor, inspection of this mosaic shows zones that appear smudged or blurry. The high dust opacity on 25 December impacted MOC's oblique viewing geometry toward the edges of each orbit's daily global mapping image, thus emphasizing the 'blurry' zones between images acquired on successive orbits.

Low Cost and Efficient 3d Indoor Mapping Using Multiple Consumer Rgb-D Cameras

NASA Astrophysics Data System (ADS)

Chen, C.; Yang, B. S.; Song, S.

2016-06-01

Driven by the miniaturization, lightweight of positioning and remote sensing sensors as well as the urgent needs for fusing indoor and outdoor maps for next generation navigation, 3D indoor mapping from mobile scanning is a hot research and application topic. The point clouds with auxiliary data such as colour, infrared images derived from 3D indoor mobile mapping suite can be used in a variety of novel applications, including indoor scene visualization, automated floorplan generation, gaming, reverse engineering, navigation, simulation and etc. State-of-the-art 3D indoor mapping systems equipped with multiple laser scanners product accurate point clouds of building interiors containing billions of points. However, these laser scanner based systems are mostly expensive and not portable. Low cost consumer RGB-D Cameras provides an alternative way to solve the core challenge of indoor mapping that is capturing detailed underlying geometry of the building interiors. Nevertheless, RGB-D Cameras have a very limited field of view resulting in low efficiency in the data collecting stage and incomplete dataset that missing major building structures (e.g. ceilings, walls). Endeavour to collect a complete scene without data blanks using single RGB-D Camera is not technic sound because of the large amount of human labour and position parameters need to be solved. To find an efficient and low cost way to solve the 3D indoor mapping, in this paper, we present an indoor mapping suite prototype that is built upon a novel calibration method which calibrates internal parameters and external parameters of multiple RGB-D Cameras. Three Kinect sensors are mounted on a rig with different view direction to form a large field of view. The calibration procedure is three folds: 1, the internal parameters of the colour and infrared camera inside each Kinect are calibrated using a chess board pattern, respectively; 2, the external parameters between the colour and infrared camera inside each Kinect are calibrated using a chess board pattern; 3, the external parameters between every Kinect are firstly calculated using a pre-set calibration field and further refined by an iterative closet point algorithm. Experiments are carried out to validate the proposed method upon RGB-D datasets collected by the indoor mapping suite prototype. The effectiveness and accuracy of the proposed method is evaluated by comparing the point clouds derived from the prototype with ground truth data collected by commercial terrestrial laser scanner at ultra-high density. The overall analysis of the results shows that the proposed method achieves seamless integration of multiple point clouds form different RGB-D cameras collected at 30 frame per second.

Evaluation of ERTS-1 imagery for mapping Quaternary deposits and landforms in the Great Plains and Midwest

NASA Technical Reports Server (NTRS)

Morrison, R. B. (Principal Investigator); Hallberg, G. R.

1973-01-01

The author has identified the following significant results. The main landform associations and larger landforms are readily identifiable on the better images and commonly the gross associations of surficial Quaternary deposits also can be differentiated, primarily by information on landforms and soils. Maps showing the Quaternary geologic-terrain units that can be differentiated from the ERTS-1 images are being prepared for study areas in Illinois, Iowa, Missouri, Kansas, Nebraska, and South Dakota. Preliminary maps at 1:1 million scale are given of two of the study areas, the Peoria and Decatur, Illinois, 1 deg x 2 quadrangles. These maps exemplify the first phase of investigations, which consists of identifying and mapping landform and land use characteristics and geologic-surficial materials directly from ERTS-1 images alone, without input of additional data. These maps shown that commonly the boundaries of geologic-terrain units can be identified more accurately on ERTS-1 images than on topographic maps of 1:250,000 scale. From analysis of drainage patterns, stream-divide relations, and tone and textural variations on the ERTS-1 images, the trends of numerous moraines of Wisconsinan and possibly some of Illinoian age were mapped. In the Peoria study area the trend of a buried valley of the Mississippi River is revealed.

The use of Remotely Piloted Aircraft Systems for the Innovative Methodologies in thermal Energy Release monitoring

NASA Astrophysics Data System (ADS)

Marotta, Enrica; Avino, Rosario; Avvisati, Gala; Belviso, Pasquale; Caliro, Stefano; Caputo, Teresa; Carandente, Antonio; Peluso, Rosario; Sangianantoni, Agata; Sansivero, Fabio; Vilardo, Giuseppe

2017-04-01

Last years have been characterized by a fast development of Remotely Piloted Aircraft Systems which are becoming cheaper, lighter and more powerful. The concurrent development of high resolution, lightweight and energy saving sensors sometimes specifically designed for air-borne applications are together rapidly changing the way in which it is possible to perform monitoring and surveys in hazardous environments such as volcanoes. An example of this convergence is the new methodology we are currently developing at the INGV-Osservatorio Vesuviano for the estimation of the thermal energy release of volcanic diffuse degassing areas using the ground temperatures from thermal infrared images. Preliminary experiments, carried out during many-years campaigns performed inside at La Solfatara crater by using thermal infrared images and K type thermocouples inserted into the ground at various depths, found a correlation between surface temperature and shallow gradient. Due to the large extent of areas affected by thermal anomalies, an effective and expedite tool to acquire the IR images is a RPAS equipped with high-resolution thermal and visible cameras. These acquisitions allow to quickly acquire the data to produce a heat release map. This map is then orthorectified and geocoded in order to be superimposed on digital terrain models or on the orthophotogrammetric mosaic obtained after processing photos acquired by RPAS. Such expedite maps of heat flux, taking in account accurate filtering of atmospheric influence, represents a useful tool for volcanic surveillance monitoring purposes. In order to start all the activities of these drones we had to acquire all necessary permissions required by the complex Italian normative.

Optimizing the Distribution of Tie Points for the Bundle Adjustment of HRSC Image Mosaics

NASA Astrophysics Data System (ADS)

Bostelmann, J.; Breitkopf, U.; Heipke, C.

2017-07-01

For a systematic mapping of the Martian surface, the Mars Express orbiter is equipped with a multi-line scanner: Since the beginning of 2004 the High Resolution Stereo Camera (HRSC) regularly acquires long image strips. By now more than 4,000 strips covering nearly the whole planet are available. Due to the nine channels, each with different viewing direction, and partly with different optical filters, each strip provides 3D and color information and allows the generation of digital terrain models (DTMs) and orthophotos. To map larger regions, neighboring HRSC strips can be combined to build DTM and orthophoto mosaics. The global mapping scheme Mars Chart 30 is used to define the extent of these mosaics. In order to avoid unreasonably large data volumes, each MC-30 tile is divided into two parts, combining about 90 strips each. To ensure a seamless fit of these strips, several radiometric and geometric corrections are applied in the photogrammetric process. A simultaneous bundle adjustment of all strips as a block is carried out to estimate their precise exterior orientation. Because size, position, resolution and image quality of the strips in these blocks are heterogeneous, also the quality and distribution of the tie points vary. In absence of ground control points, heights of a global terrain model are used as reference information, and for this task a regular distribution of these tie points is preferable. Besides, their total number should be limited because of computational reasons. In this paper, we present an algorithm, which optimizes the distribution of tie points under these constraints. A large number of tie points used as input is reduced without affecting the geometric stability of the block by preserving connections between strips. This stability is achieved by using a regular grid in object space and discarding, for each grid cell, points which are redundant for the block adjustment. The set of tie points, filtered by the algorithm, shows a more homogenous distribution and is considerably smaller. Used for the block adjustment, it yields results of equal quality, with significantly shorter computation time. In this work, we present experiments with MC-30 half-tile blocks, which confirm our idea for reaching a stable and faster bundle adjustment. The described method is used for the systematic processing of HRSC data.

Intuitive Terrain Reconstruction Using Height Observation-Based Ground Segmentation and 3D Object Boundary Estimation

PubMed Central

Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

2012-01-01

Mobile robot operators must make rapid decisions based on information about the robot’s surrounding environment. This means that terrain modeling and photorealistic visualization are required for the remote operation of mobile robots. We have produced a voxel map and textured mesh from the 2D and 3D datasets collected by a robot’s array of sensors, but some upper parts of objects are beyond the sensors’ measurements and these parts are missing in the terrain reconstruction result. This result is an incomplete terrain model. To solve this problem, we present a new ground segmentation method to detect non-ground data in the reconstructed voxel map. Our method uses height histograms to estimate the ground height range, and a Gibbs-Markov random field model to refine the segmentation results. To reconstruct a complete terrain model of the 3D environment, we develop a 3D boundary estimation method for non-ground objects. We apply a boundary detection technique to the 2D image, before estimating and refining the actual height values of the non-ground vertices in the reconstructed textured mesh. Our proposed methods were tested in an outdoor environment in which trees and buildings were not completely sensed. Our results show that the time required for ground segmentation is faster than that for data sensing, which is necessary for a real-time approach. In addition, those parts of objects that were not sensed are accurately recovered to retrieve their real-world appearances. PMID:23235454

Intuitive terrain reconstruction using height observation-based ground segmentation and 3D object boundary estimation.

PubMed

Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

2012-12-12

Mobile robot operators must make rapid decisions based on information about the robot's surrounding environment. This means that terrain modeling and photorealistic visualization are required for the remote operation of mobile robots. We have produced a voxel map and textured mesh from the 2D and 3D datasets collected by a robot's array of sensors, but some upper parts of objects are beyond the sensors' measurements and these parts are missing in the terrain reconstruction result. This result is an incomplete terrain model. To solve this problem, we present a new ground segmentation method to detect non-ground data in the reconstructed voxel map. Our method uses height histograms to estimate the ground height range, and a Gibbs-Markov random field model to refine the segmentation results. To reconstruct a complete terrain model of the 3D environment, we develop a 3D boundary estimation method for non-ground objects. We apply a boundary detection technique to the 2D image, before estimating and refining the actual height values of the non-ground vertices in the reconstructed textured mesh. Our proposed methods were tested in an outdoor environment in which trees and buildings were not completely sensed. Our results show that the time required for ground segmentation is faster than that for data sensing, which is necessary for a real-time approach. In addition, those parts of objects that were not sensed are accurately recovered to retrieve their real-world appearances.

A Quantitative Analysis of the Fretted Terrain Valleys, Arabia Terra, Mars

NASA Astrophysics Data System (ADS)

Mason, Kelsey Anne

Fretted terrain describes regions on Mars with low-lying, flat valleys separated by steep cliffs that often form polygonal-shaped mesas. The fretted terrain valleys have a morphology distinct from other valleys found on Mars, and their unknown origin may hold insights into critical questions about Mars' tectonic, magmatic, and hydrologic history. Current hypothesis for the formation of the fretted terrain include fracturing as well as hydrological flow processes such as fluvial or glacial erosion. The region for this study is located in eastern Arabia Terra and is the type-location for fretted terrain. By qualitatively and quantitatively documenting the planform, or map-view, valley geometries and orientations throughout the fretted terrain, this study better constrains the origin of the valleys. Valleys were mapped using automated routines in ArcGIS including the D8 flow direction algorithm. Valleys were then grouped geographically into basins and also by Strahler order. The valleys were then segmented every 50 km and the azimuth of each segment was calculated. The resulting valley azimuths were analyzed using rose diagrams to quantitatively describe the planform geometries of the valleys. Qualitatively, the majority of basins were found to have rectangular valley geometries. The downslope direction was calculated for each basin, and it was compared to the corresponding valley azimuths. The basins with rectangular valley geometries had valleys with an azimuth mode nearly parallel to the downslope direction and another azimuth mode perpendicular to the downslope direction. The valley azimuth mode parallel to the downslope direction is attributed to hydrological flow processes while the mode perpendicular to the downslope direction is attributed to fracturing related to the formation or existence of the Mars global dichotomy boundary.

Detection and mapping of hydrothermally altered rocks in the vicinity of the comstock lode, Virginia Range, Nevada, using enhanced LANDSAT images

NASA Technical Reports Server (NTRS)

Ashley, R. P. (Principal Investigator); Goetz, A. F. H.; Rowan, L. C.; Abrams, M. J.

1979-01-01

The author has identified the following significant results. LANDSAT images enhanced by the band-ratioing method can be used for reconnaissance alteration mapping in moderately heavily vegetated semiarid terrain as well as in sparsely vegetated to semiarid terrain where the technique was originally developed. Significant vegetation cover in a scene, however, requires the use of MSS ratios 4/5, 4/6, and 6/7 rather than 4/5, 5/6, and 6/7, and requires careful interpretation of the results. Supplemental information suitable to vegetation identification and cover estimates, such as standard LANDSAT false-color composites and low altitude aerial photographs of selected areas is desirable.

MonoSLAM: real-time single camera SLAM.

PubMed

Davison, Andrew J; Reid, Ian D; Molton, Nicholas D; Stasse, Olivier

2007-06-01

We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera.

Arctic and subarctic environmental analyses utilizing ERTS-1 imagery. [permafrost sediment transport, snow cover, ice conditions, and water runoff in Alaska

NASA Technical Reports Server (NTRS)

Anderson, D. M.; Mckim, H. L.; Haugen, R. K.; Gatto, L. W.; Slaughter, C. W.; Marlar, T. L. (Principal Investigator)

1973-01-01

The author has identified the following significant results. Physiognomic landscape features were used as geologic and vegetative indicators in preparation of a surficial geology, vegetation, and permafrost map at a scale of 1:1 million using ERTS-1 band 7 imagery. The detail from this map compared favorably with USGS maps at 1:250,000 scale. Physical boundaries mapped from ERTS-1 imagery in combination with ground truth obtained from existing small maps and other sources resulted in improved and more detailed maps of permafrost terrain and vegetation for the same area. ERTS-1 imagery provides for the first time, a means of monitoring the following regional estuarine processes: daily and periodic surface water circulation patterns; changes in the relative sediment load of rivers discharging into the inlet; and, several local patterns not recognized before, such as a clockwise back eddy offshore from Clam Gulch and a counterclockwise current north of the Forelands. Comparison of ERTS-1 and Mariner imagery has revealed that the thermokarst depressions found on the Alaskan North Slope and polygonal patterns on the Yukon River Delta are possible analogs to some Martian terrain features.

A framework for global terrain classification using 250-m DEMs to predict geohazards

NASA Astrophysics Data System (ADS)

Iwahashi, J.; Matsuoka, M.; Yong, A.

2016-12-01

Geomorphology is key for identifying factors that control geohazards induced by landslides, liquefaction, and ground shaking. To systematically identify landforms that affect these hazards, Iwahashi and Pike (2007; IP07) introduced an automated terrain classification scheme using 1-km-scale Shuttle Radar Topography Mission (SRTM) digital elevation models (DEMs). The IP07 classes describe 16 categories of terrain types and were used as a proxy for predicting ground motion amplification (Yong et al., 2012; Seyhan et al., 2014; Stewart et al., 2014; Yong, 2016). These classes, however, were not sufficiently resolved because coarse-scaled SRTM DEMs were the basis for the categories (Yong, 2016). Thus, we develop a new framework consisting of more detailed polygonal global terrain classes to improve estimations of soil-type and material stiffness. We first prepare high resolution 250-m DEMs derived from the 2010 Global Multi-resolution Terrain Elevation Data (GMTED2010). As in IP07, we calculate three geometric signatures (slope, local convexity and surface texture) from the DEMs. We create additional polygons by using the same signatures and multi-resolution segmentation techniques on the GMTED2010. We consider two types of surface texture thresholds in different window sizes (3x3 and 13x13 pixels), in addition to slope and local convexity, to classify pixels within the DEM. Finally, we apply the k-means clustering and thresholding methods to the 250-m DEM and produce more detailed polygonal terrain classes. We compare the new terrain classification maps of Japan and California with geologic, aerial photography, and landslide distribution maps, and visually find good correspondence of key features. To predict ground motion amplification, we apply the Yong (2016) method for estimating VS30. The systematic classification of geomorphology has the potential to provide a better understanding of the susceptibility to geohazards, which is especially vital in populated areas.

Semi-automatic mapping of cultural heritage from airborne laser scanning using deep learning

NASA Astrophysics Data System (ADS)

Due Trier, Øivind; Salberg, Arnt-Børre; Holger Pilø, Lars; Tonning, Christer; Marius Johansen, Hans; Aarsten, Dagrun

2016-04-01

This paper proposes to use deep learning to improve semi-automatic mapping of cultural heritage from airborne laser scanning (ALS) data. Automatic detection methods, based on traditional pattern recognition, have been applied in a number of cultural heritage mapping projects in Norway for the past five years. Automatic detection of pits and heaps have been combined with visual interpretation of the ALS data for the mapping of deer hunting systems, iron production sites, grave mounds and charcoal kilns. However, the performance of the automatic detection methods varies substantially between ALS datasets. For the mapping of deer hunting systems on flat gravel and sand sediment deposits, the automatic detection results were almost perfect. However, some false detections appeared in the terrain outside of the sediment deposits. These could be explained by other pit-like landscape features, like parts of river courses, spaces between boulders, and modern terrain modifications. However, these were easy to spot during visual interpretation, and the number of missed individual pitfall traps was still low. For the mapping of grave mounds, the automatic method produced a large number of false detections, reducing the usefulness of the semi-automatic approach. The mound structure is a very common natural terrain feature, and the grave mounds are less distinct in shape than the pitfall traps. Still, applying automatic mound detection on an entire municipality did lead to a new discovery of an Iron Age grave field with more than 15 individual mounds. Automatic mound detection also proved to be useful for a detailed re-mapping of Norway's largest Iron Age grave yard, which contains almost 1000 individual graves. Combined pit and mound detection has been applied to the mapping of more than 1000 charcoal kilns that were used by an iron work 350-200 years ago. The majority of charcoal kilns were indirectly detected as either pits on the circumference, a central mound, or both. However, kilns with a flat interior and a shallow ditch along the circumference were often missed by the automatic detection method. The successfulness of automatic detection seems to depend on two factors: (1) the density of ALS ground hits on the cultural heritage structures being sought, and (2) to what extent these structures stand out from natural terrain structures. The first factor may, to some extent, be improved by using a higher number of ALS pulses per square meter. The second factor is difficult to change, and also highlights another challenge: how to make a general automatic method that is applicable in all types of terrain within a country. The mixed experience with traditional pattern recognition for semi-automatic mapping of cultural heritage led us to consider deep learning as an alternative approach. The main principle is that a general feature detector has been trained on a large image database. The feature detector is then tailored to a specific task by using a modest number of images of true and false examples of the features being sought. Results of using deep learning are compared with previous results using traditional pattern recognition.

Geologic map of MTM -45252 and-45257 quadrangles, Reull Vallis region of Mars

USGS Publications Warehouse

Mest, Scott C.; Crown, David A.

2003-01-01

Mars Transverse Mercator (MTM) quadrangles -45252 and -45257 (latitude 42.5° S. to 47.5°S., longitude 250° W. to 260° W.) cover a portion of the highlands of Promethei Terra east of Hellas basin. The map area consists of heavily cratered ancient highland materials having moderate to high relief, isolated knobs and massifs of rugged mountainous material, and extensive tracts of smooth and channeled plains. Part of the ~1,500-km-long Reull Vallis outflow system is within the map area. The area also contains surficial deposits, such as the prominent large debris aprons that commonly surround highland massifs. Regional slopes are to the west, toward the Hellas basin, as indicated by topographic maps of Mars. Approximately 60 percent of the surface of Mars is covered by rugged, heavily cratered terrains believed to represent the effects of heavy bombardment in the inner solar system about 4.0 billion years ago. Much of this terrain, including that within the map area, records a long history of modification by tectonism, fluvial processes, mass wasting, and eolian activity. The presence of fluvial features to the east of Hellas basin, including Reull Vallis and other smaller channels, has significant implications for past environmental conditions. The degraded terrains surrounding Hellas basin provide constraints on the role and timing of volatile-driven activity in the evolution of the highlands. Current photogeologic mapping at 1:500,000 scale (see also Mest and Crown, 2002) from analysis of Viking Orbiter images complements previous geomorphic studies of Reull Vallis and other highland outflow systems, drainage networks, and highland debris aprons, as well as regional geologic mapping studies and geologic mapping of Hellas basin as a whole at 1:5,000,000 scale. Viking Orbiter image coverage of the map area generally ranges from 160 to 220 m/pixel; the central part of the map area is covered by higher resolution images of about 47 m/pixel. Crater size-frequency distributions have been compiled to constrain the relative ages of geologic units and determine the timing and duration of inferred geologic processes.

Study of a quasi-microscope design for planetary landers

NASA Technical Reports Server (NTRS)

Giat, O.; Brown, E. B.

1973-01-01

The Viking Lander fascimile camera, in its present form, provides for a minimum object distance of 1.9 meters, at which distance its resolution of 0.0007 radian provides an object resolution of 1.33 millimeters. It was deemed desirable, especially for follow-on Viking missions, to provide means for examing Martian terrain at resolutions considerably higher than that now provided. This led to the concept of quasi-microscope, an attachment to be used in conjunction with the fascimile camera to convert it to a low power microscope. The results are reported of an investigation to consider alternate optical configurations for the quasi-microscope and to develop optical designs for the selected system or systems. Initial requirements included consideration of object resolutions in the range of 2 to 50 micrometers, an available field of view of the order of 500 pixels, and no significant modifications to the fascimile camera.

The U.S. Combat and Tactical Wheeled Vehicle Fleets: Issues and Suggestions for Congress

DTIC Science & Technology

2011-01-01

nonlinear, irregular distribution of brigade and battalion formations means that there is no longer a relatively more secure rear area, an...enhancement package, according to civilian sources, included depleted- uranium armor, digital command- and-control architecture, digital color terrain maps...system robustness and flexibility, and (3) more often than not, the preparation of the analysis (e.g., terrain formatting , laydown of forces, timing of

Northeast Isidis

NASA Technical Reports Server (NTRS)

2005-01-01

7 December 2005 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows a mesa in northeastern Isidis Planitia. The mesa might be a remnant of terrain that once more extensively covered the region.

Location near: 20.3oN, 267.7oW Image width: width: 3 km (1.9 mi) Illumination from: lower left Season: Northern Winter

Relative depths of simple craters and the nature of the lunar regolith

NASA Astrophysics Data System (ADS)

Stopar, Julie D.; Robinson, Mark S.; Barnouin, Olivier S.; McEwen, Alfred S.; Speyerer, Emerson J.; Henriksen, Megan R.; Sutton, Sarah S.

2017-12-01

We assessed the morphologies of more than 930 simple impact craters (diameters 40 m-10 km) on the Moon using digital terrain models (DTMs) of a variety of terrains in order to characterize the variability of fresh crater morphology as a function of crater diameter. From Lunar Reconnaissance Orbiter Camera (LROC) Narrow Angle Camera (NAC) DTMs, we determined depth-to-diameter (d/D) ratios for an extremely fresh set of these craters with diameters less than 400 m and found that their d/D ratios range from 0.11 to 0.17. Using both NAC and Kaguya Terrain Camera DTMs, we also determined the d/D ratios for the set of fresh simple craters larger than 400 m in diameter. The d/D ratios of these larger craters are typically near 0.21, as expected of gravity-dominated crater excavation. Fresh craters less than ∼400 m in diameter, on the other hand, exhibit significantly lower d/D ratios. Various possible factors affect the morphologies and relative depths (d/D ratios) of small strength-dominated craters, including impactor and target properties (e.g., effective strength, strength contrasts, porosity, pre-existing weaknesses), impact angle and velocity, and degradation state. While impact conditions resulting from secondary impacts can also affect crater morphologies, we found that d/D ratio alone was not a unique discriminator of small secondary craters. To investigate the relative influences of degradation and target properties on the d/D ratios of small strength-dominated craters, we examined a subset of fresh craters located on the geologically young rim deposits of Tycho crater. These craters are deeper and steeper than other craters of similar diameter and degradation state, consistent with their relative freshness and formation in the relatively coherent, melt-rich deposits in this region. The d/D ratios of globally distributed small craters of similar degradation state and size range, on the other hand, are relatively shallow with lower average wall slopes, consistent with crater excavation in a weak or poorly cohesive layer. The widespread predominance of these small, shallow craters is consistent with the pervasive, poorly cohesive upper regolith.

Lunar Reconnaissance Orbiter Camera Observations Relating to Science and Landing Site Selection in South Pole-Aitken Basin for a Robotic Sample Return Mission

NASA Technical Reports Server (NTRS)

Jolliff, B. L.; Clegg-Watkins, R. N.; Petro, N. E.; Lawrence, S. L.

2016-01-01

The Moon's South Pole-Aitken basin (SPA) is a high priority target for Solar System exploration, and sample return from SPA is a specific objective in NASA's New Frontiers program. Samples returned from SPA will improve our understanding of early lunar and Solar System events, mainly by placing firm timing constraints on SPA formation and the post-SPA late-heavy bombardment (LHB). Lunar Reconnaissance Orbiter Camera (LROC) images and topographic data, especially Narrow Angle Camera (NAC) scale (1-3 mpp) morphology and digital terrain model (DTM) data are critical for selecting landing sites and assessing landing hazards. Rock components in regolith at a given landing site should include (1) original SPA impact-melt rocks and breccia (to determine the age of the impact event and what materials were incorporated into the melt); (2) impact-melt rocks and breccia from large craters and basins (other than SPA) that represent the post-SPA LHB interval; (3) volcanic basalts derived from the sub-SPA mantle; and (4) older, "cryptomare" (ancient buried volcanics excavated by impact craters, to determine the volcanic history of SPA basin). All of these rock types are sought for sample return. The ancient SPA-derived impact-melt rocks and later-formed melt rocks are needed to determine chronology, and thus address questions of early Solar System dynamics, lunar history, and effects of giant impacts. Surface compositions from remote sensing are consistent with mixtures of SPA impactite and volcanic materials, and near infrared spectral data distinguish areas with variable volcanic contents vs. excavated SPA substrate. Estimating proportions of these rock types in the regolith requires knowledge of the surface deposits, evaluated via morphology, slopes, and terrain ruggedness. These data allow determination of mare-cryptomare-nonmare deposit interfaces in combination with compositional and mineralogical remote sensing to establish the types and relative proportions of materials expected at a given site. Remote sensing compositions, e.g., FeO, also constrain the relative abundances of components. Landing-site assessments use crater and boulder distributions, and slope and terrain rugge

Dig Hazard Assessment Using a Stereo Pair of Cameras

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Trebi-Ollennu, Ashitey

2012-01-01

This software evaluates the terrain within reach of a lander s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth. Onboard dig hazard assessment is accomplished by executing a workspace panorama command sequence. This sequence acquires a set of stereo pairs of images of the terrain the arm can reach, generates a set of candidate dig sectors, and assesses the dig hazard of each candidate dig sector. The 3D perimeter points of candidate dig sectors are generated using configurable parameters. A 3D reconstruction of the terrain in front of the lander is generated using a set of stereo images acquired from the mast cameras. The 3D reconstruction is used to evaluate the dig goodness of each candidate dig sector based on a set of eight metrics. The eight metrics are: 1. The maximum change in elevation in each sector, 2. The elevation standard deviation in each sector, 3. The forward tilt of each sector with respect to the payload frame, 4. The side tilt of each sector with respect to the payload frame, 5. The maximum size of missing data regions in each sector, 6. The percentage of a sector that has missing data, 7. The roughness of each sector, and 8. Monochrome intensity standard deviation of each sector. Each of the eight metrics forms a goodness image layer where the goodness value of each sector ranges from 0 to 1. Goodness values of 0 and 1 correspond to high and low risk, respectively. For each dig sector, the eight goodness values are merged by selecting the lowest one. Including the merged goodness image layer, there are nine goodness image layers for each stereo pair of mast images.

Observation of Possible Lava Tube Skylights by SELENE cameras

NASA Astrophysics Data System (ADS)

Haruyama, Junichi; Hiesinger, Harald; van der Bogert, Carolyn

We have discovered three deep hole-structures on the Moon in the Terrain Camera and Multi-band Imager on the SELENE. These holes are large depth to diameter ratios: Marius Hills Hole (MHH) is 65 m in diameter and 88-90 m in depth, Mare Tranquillitatis Hole (MTH) is 120 x 110 m in diameter and 180 m in depth, and Mare Ingenii Hole (MIH) is 140 x 110 m in diameter and deeper than 90 m. No volcanic material from the holes nor dike-relating pit craters is seen around the holes. They are possible lava tube skylights. These holes and possibly connected tubes have a lot of scientific interests and high potentialities as lunar bases.

Paved Path for Opportunity

NASA Technical Reports Server (NTRS)

2006-01-01

As NASA's Mars Exploration Rover Opportunity continues a southward trek from 'Erebus Crater' toward 'Victoria Crater,' the terrain consists of large sand ripples and patches of flat-lying rock outcrops, as shown in this image. Whenever possible, rover planners keep Opportunity on the 'pavement' for best mobility.

This false-color image mosaic was assembled using images acquired by the panoramic camera on Opportunity's 784th sol (April 8, 2006) at about 11:45 a.m. local solar time. The camera used its 753-nanometer, 535-nanometer and 432-nanometer filters. This view shows a portion of the outcrop named 'Bosque,' including rover wheel tracks, fractured and finely-layered outcrop rocks and smaller, dark cobbles littered across the surface.

Hyperspectral Technique for Detecting Soil Parameters

NASA Astrophysics Data System (ADS)

Garfagnoli, F.; Ciampalini, A.; Moretti, S.; Chiarantini, L.

2011-12-01

In satellite and airborne remote sensing, hyperspectral technique has become a very powerful tool, due to the possibility of rapidly realizing chemical/mineralogical maps of the studied areas. Many studies are trying to customize the algorithms to identify several geo-physical soil properties. The specific objective of this study is to investigate those soil characteristics, such as clay mineral content, influencing degradation processes (soil erosion and shallow landslides), by means of correlation analysis, in order to examine the possibility of predicting the selected property using high-resolution reflectance spectra and images. The study area is located in the Mugello basin, about 30 km north of Firenze (Tuscany, Italy). Agriculturally suitable terrains are assigned mainly to annual crops, marginally to olive groves, vineyards and orchards. Soils mostly belong to Regosols and Cambisols orders. An ASD FieldSpec spectroradiometer was used to obtain reflectance spectra from about 80 dried, crushed and sieved samples under controlled laboratory conditions. Samples were collected simultaneously with the flight of SIM.GA hyperspectral camera from Selex Galileo, over an area of about 5 km2 and their positions were recorded with a differential GPS. The quantitative determination of clay minerals content was performed by means of XRD and Rietveld refinement. Different chemometric techniques were preliminarily tested to correlate mineralogical records with reflectance data. A one component partial least squares regression model yielded a preliminary R2 value of 0.65. A slightly better result was achieved by plotting the absorption peak depth at 2210 versus total clay content (band-depth analysis). The complete SIM.GA hyperspectral geocoded row dataset, with an approximate pixel resolution of 0.6 m (VNIR) and 1.2 m (SWIR), was firstly transformed into at sensor radiance values, by applying calibration coefficients and parameters from laboratory measurements to non-georeferred VNIR/SWIR DN values. Then, airborne imagery needed to be corrected for the influence of the atmosphere, solar illumination, sensor viewing geometry and terrain geometry information, for the retrieval of inherent surface reflectance properties. The geocoded products were obtained for each flight line by using a procedure developed in IDL Language and PARGE (PARametric Geocoding) software. When all compensation parameters were applied to hyperspectral data or to the final thematic map, orthorectified, georeferred and coregistered VNIR to SWIR images or maps were available for GIS application and 3D view as well as for the retrieval of different geophysical parameters by means of inversion algorithms. The experimental fitting of laboratory data on mineral content is used for airborne data inversion, whose results are in agreement with laboratory records, demonstrating the possibility to use this methodology for digital mapping of soil properties. In this study, we established a complete procedure for mapping clay content areal variations in agricultural soils starting form airborne hyperspectral imagery.

American Society of Photogrammetry and American Congress on Surveying and Mapping, Fall Technical Meeting, ASP Technical Papers

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1981-01-01

Various topics in the field of photogrammetry are addressed. Among the subjects discussed are: remote sensing of Gulf Stream dynamics using VHRR satellite imagery an interactive rectification system for remote sensing imagery use of a single photo and digital terrain matrix for point positioning crop type analysis using Landsat digital data use of a fisheye lens in solar energy assessment remote sensing inventory of Rocky Mountain elk habitat Washington state's large scale ortho program educational image processing. Also discussed are: operational advantages of on-line photogrammetric triangulation analysis of fracturation field photogrammetry as a tool for measuring glacier movement double modelmore » orthophotos used for forest inventory mapping map revisioning module for the Kern PG2 stereoplotter assessing accuracy of digital land-use and terrain data accuracy of earthwork calculations from digital elevation data.« less

Interdisciplinary applications and interpretations of EREP data within the Susquehanna River Basin

NASA Technical Reports Server (NTRS)

Mcmurtry, G. J.; Petersen, G. W. (Principal Investigator)

1976-01-01

The author has identified the following significant results. Photography from the S190A and S190B sensors was compared, for terrain analysis. The S190B photographs were used for terrain mapping of three test areas selected as being representative of major physiographic regions in Pennsylvania. Skylab photography was superior to both LANDSAT imagery and high altitude aircraft photography for purposes of accurate location of lineaments. Analysis of Skylab imagery has shown that long lineaments originally plotted on LANDSAT images are actually made up of shorter segments. Correlation of lineaments with ore deposits was determined following the preparation of a Pennsylvania mineral deposit map. Digital wave number analysis (spatial filtering) was attempted to determine if it can be used to enhance certain subtle features, and in particular, to locate and verify lineaments. Various spectral bands and channels of the MSS digital data were evaluated for their value in the classification and thematic mapping.

Glaciated valleys in Europe and western Asia

PubMed Central

Prasicek, Günther; Otto, Jan-Christoph; Montgomery, David R.; Schrott, Lothar

2015-01-01

In recent years, remote sensing, morphometric analysis, and other computational concepts and tools have invigorated the field of geomorphological mapping. Automated interpretation of digital terrain data based on impartial rules holds substantial promise for large dataset processing and objective landscape classification. However, the geomorphological realm presents tremendous complexity and challenges in the translation of qualitative descriptions into geomorphometric semantics. Here, the simple, conventional distinction of V-shaped fluvial and U-shaped glacial valleys was analyzed quantitatively using multi-scale curvature and a novel morphometric variable termed Difference of Minimum Curvature (DMC). We used this automated terrain analysis approach to produce a raster map at a scale of 1:6,000,000 showing the distribution of glaciated valleys across Europe and western Asia. The data set has a cell size of 3 arc seconds and consists of more than 40 billion grid cells. Glaciated U-shaped valleys commonly associated with erosion by warm-based glaciers are abundant in the alpine regions of mid Europe and western Asia but also occur at the margins of mountain ice sheets in Scandinavia. The high-level correspondence with field mapping and the fully transferable semantics validate this approach for automated analysis of yet unexplored terrain around the globe and qualify for potential applications on other planetary bodies like Mars. PMID:27019665

Landslide Detection in the Carlyon Beach, WA Peninsula: Analysis Of High Resolution DEMs

NASA Astrophysics Data System (ADS)

Fayne, J.; Tran, C.; Mora, O. E.

2017-12-01

Landslides are geological events caused by slope instability and degradation, leading to the sliding of large masses of rock and soil down a mountain or hillside. These events are influenced by topography, geology, weather and human activity, and can cause extensive damage to the environment and infrastructure, such as the destruction of transportation networks, homes, and businesses. It is therefore imperative to detect early-warning signs of landslide hazards as a means of mitigation and disaster prevention. Traditional landslide surveillance consists of field mapping, but the process is expensive and time consuming. This study uses Light Detection and Ranging (LiDAR) derived Digital Elevation Models (DEMs) and k-means clustering and Gaussian Mixture Model (GMM) to analyze surface roughness and extract spatial features and patterns of landslides and landslide-prone areas. The methodology based on several feature extractors employs an unsupervised classifier on the Carlyon Beach Peninsula in the state of Washington to attempt to identify slide potential terrain. When compared with the independently compiled landslide inventory map, the proposed algorithm correctly classifies up to 87% of the terrain. These results suggest that the proposed methods and LiDAR-derived DEMs can provide important surface information and be used as efficient tools for digital terrain analysis to create accurate landslide maps.

Near-infrared spectral mapping of Titan's mountains and channels

USGS Publications Warehouse

Barnes, J.W.; Radebaugh, J.; Brown, R.H.; Wall, S.; Soderblom, L.; Lunine, J.; Burr, D.; Sotin, Christophe; Le, Mouelic S.; Rodriguez, S.; Buratti, B.J.; Clark, R.; Baines, K.H.; Jaumann, R.; Nicholson, P.D.; Kirk, R.L.; Lopes, R.; Lorenz, R.D.; Mitchell, Ken; Wood, C.A.

2007-01-01

We investigate the spectral reflectance properties of channels and mountain ranges on Titan using data from Cassini's Visual and Infrared Mapping Spectrometer (VIMS) obtained during the T9 encounter (26 December 2005). We identify the location of channels and mountains using synthetic aperture radar maps obtained from Cassini's RADAR instrument during the T13 (30 April 2006) flyby. Channels are evident even in VIMS imaging with spatial resolution coarser than the channel size. The channels share spectral characteristics with Titan's dark blue terrain (e.g., the Huygens landing site) that is consistent with an enhancement in water ice content relative to the rest of Titan. We use this fact to measure widths of ???1 km for the largest channels. Comparison of the data sets shows that in our study area within the equatorial bright spectral unit east of Xanadu, mountains are darker and bluer than surrounding smooth terrain. These results are consistent with the equatorial bright terrain possessing a veneer of material that is thinner in the regions where there are mountains and streambeds that have likely undergone more recent and extensive erosion. We suggest a model for the geographic relationship of the dark blue, dark brown, and equatorial bright spectral units based on our findings. Copyright 2007 by the American Geophysical Union.

Integrated system for single leg walking

NASA Astrophysics Data System (ADS)

Simmons, Reid; Krotkov, Eric; Roston, Gerry

1990-07-01

The Carnegie Mellon University Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. This report describes an integrated software system capable of navigating a single leg of the robot over rugged terrain. The leg, based on an early design of the Ambler Planetary Rover, is suspended below a carriage that slides along rails. To walk, the system creates an elevation map of the terrain from laser scanner images, plans an appropriate foothold based on terrain and geometric constraints, weaves the leg through the terrain to position it above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced obstacles, and sand hills. The implemented system consists of a number of task-specific processes (two for planning, two for perception, one for real-time control) and a central control process that directs the flow of communication between processes.

The Depositional and Erosional History of Northwestern Aeolis Mons, Gale Crater, Mars: Insights from Detailed 1:2K Geologic Mapping

NASA Astrophysics Data System (ADS)

Edgar, L. A.; Calef, F. J., III; Thomson, B. J.

2017-12-01

The Mars Science Laboratory (MSL) Curiosity rover is currently exploring the stratigraphy exposed in Aeolis Mons, the central mound of Gale crater. Gale crater has been the target of numerous remote sensing studies, aimed at understanding the origin and evolution of the mound, informally known as Mt. Sharp. A number of efforts have produced geologic maps of the mound and the MSL traverse path, in order to investigate the stratigraphic relationships between different sedimentary units. However, a scale gap exists between local mapping and stratigraphic analyses of the area explored by Curiosity and regional mapping of Aeolis Mons. As Curiosity explores the northwest flank of Aeolis Mons, there is a critical need for investigations to bridge this gap to enable rover-scale observations to be tied to orbital interpretations. This study is focused on detailed geologic mapping and stratigraphic correlations for the northwest flank of Aeolis Mons, including an area that the Curiosity rover will likely explore. The study region covers a 5.8 x 10 km area from approximately 137.27 to 137.44 °E and -4.70 to -4.82 °N. A 25 cm/pixel mosaic produced from images acquired by the High Resolution Imaging Science Experiment (HiRISE) camera provides a basemap for all mapping, and topographic information is provided by a HiRISE 1 m Digital Terrain Model. Preliminary digital geologic mapping was carried out at a scale of 1:10,000 to provide a framework for detailed geologic mapping efforts. Higher-resolution geologic mapping was then conducted at a scale of 1:2,000, and type localities were identified. As a result of newer, higher-resolution datasets that are now available and more narrowly focused mapping, we identify a number of new geologic units. Erosional remnants of some units point to a substantial erosional history. Collectively, the stratigraphy records diverse sedimentary environments and more variability in the depositional and erosional histories than previously identified. This study helps bridge the gap between previous mapping efforts and detailed rover-scale mapping, and will enable rover observations to be more closely tied to orbital interpretations across the northwest flank of Aeolis Mons.

Geomorphometric analysis of cave ceiling channels mapped with 3-D terrestrial laser scanning

NASA Astrophysics Data System (ADS)

Gallay, Michal; Hochmuth, Zdenko; Kaňuk, Ján; Hofierka, Jaroslav

2016-05-01

The change of hydrological conditions during the evolution of caves in carbonate rocks often results in a complex subterranean geomorphology, which comprises specific landforms such as ceiling channels, anastomosing half tubes, or speleothems organized vertically in different levels. Studying such complex environments traditionally requires tedious mapping; however, this is being replaced with terrestrial laser scanning technology. Laser scanning overcomes the problem of reaching high ceilings, providing new options to map underground landscapes with unprecedented level of detail and accuracy. The acquired point cloud can be handled conveniently with dedicated software, but applying traditional geomorphometry to analyse the cave surface is limited. This is because geomorphometry has been focused on parameterization and analysis of surficial terrain. The theoretical and methodological concept has been based on two-dimensional (2-D) scalar fields, which are sufficient for most cases of the surficial terrain. The terrain surface is modelled with a bivariate function of altitude (elevation) and represented by a raster digital elevation model. However, the cave is a 3-D entity; therefore, a different approach is required for geomorphometric analysis. In this paper, we demonstrate the benefits of high-resolution cave mapping and 3-D modelling to better understand the palaeohydrography of the Domica cave in Slovakia. This methodological approach adopted traditional geomorphometric methods in a unique manner and also new methods used in 3-D computer graphics, which can be applied to study other 3-D geomorphological forms.

Bathymetric Terrain Model of the Puerto Rico Trench and the Northeastern Caribbean Region for Marine Geological Investigations

USGS Publications Warehouse

Andrews, Brian D.; ten Brink, Uri S.; Danforth, William W.; Chaytor, Jason D.; Granja-Bruna, J; Carbo-Gorosabel, A

2014-01-01

Multibeam bathymetry data collected in the Puerto Rico Trench and Northeast Caribbean region are compiled into a seamless bathymetric terrain model for broad-scale geological investigations of the trench system. These data, collected during eight separate surveys between 2002 and 2013, covering almost 180,000 square kilometers are published here in large format map sheet and digital spatial data. This report describes the common multibeam data collection, and processing methods used to produce the bathymetric terrain model and corresponding data source polygon. Details documenting the complete provenance of the data are also provided in the metadata in the Data Catalog section.

a Uav-Based Low-Cost Stereo Camera System for Archaeological Surveys - Experiences from Doliche (turkey)

NASA Astrophysics Data System (ADS)

Haubeck, K.; Prinz, T.

2013-08-01

The use of Unmanned Aerial Vehicles (UAVs) for surveying archaeological sites is becoming more and more common due to their advantages in rapidity of data acquisition, cost-efficiency and flexibility. One possible usage is the documentation and visualization of historic geo-structures and -objects using UAV-attached digital small frame cameras. These monoscopic cameras offer the possibility to obtain close-range aerial photographs, but - under the condition that an accurate nadir-waypoint flight is not possible due to choppy or windy weather conditions - at the same time implicate the problem that two single aerial images not always meet the required overlap to use them for 3D photogrammetric purposes. In this paper, we present an attempt to replace the monoscopic camera with a calibrated low-cost stereo camera that takes two pictures from a slightly different angle at the same time. Our results show that such a geometrically predefined stereo image pair can be used for photogrammetric purposes e.g. the creation of digital terrain models (DTMs) and orthophotos or the 3D extraction of single geo-objects. Because of the limited geometric photobase of the applied stereo camera and the resulting base-height ratio the accuracy of the DTM however directly depends on the UAV flight altitude.

Curved CCD detector devices and arrays for multispectral astrophysical applications and terrestrial stereo panoramic cameras

NASA Astrophysics Data System (ADS)

Swain, Pradyumna; Mark, David

2004-09-01

The emergence of curved CCD detectors as individual devices or as contoured mosaics assembled to match the curved focal planes of astronomical telescopes and terrestrial stereo panoramic cameras represents a major optical design advancement that greatly enhances the scientific potential of such instruments. In altering the primary detection surface within the telescope"s optical instrumentation system from flat to curved, and conforming the applied CCD"s shape precisely to the contour of the telescope"s curved focal plane, a major increase in the amount of transmittable light at various wavelengths through the system is achieved. This in turn enables multi-spectral ultra-sensitive imaging with much greater spatial resolution necessary for large and very large telescope applications, including those involving infrared image acquisition and spectroscopy, conducted over very wide fields of view. For earth-based and space-borne optical telescopes, the advent of curved CCD"s as the principle detectors provides a simplification of the telescope"s adjoining optics, reducing the number of optical elements and the occurrence of optical aberrations associated with large corrective optics used to conform to flat detectors. New astronomical experiments may be devised in the presence of curved CCD applications, in conjunction with large format cameras and curved mosaics, including three dimensional imaging spectroscopy conducted over multiple wavelengths simultaneously, wide field real-time stereoscopic tracking of remote objects within the solar system at high resolution, and deep field survey mapping of distant objects such as galaxies with much greater multi-band spatial precision over larger sky regions. Terrestrial stereo panoramic cameras equipped with arrays of curved CCD"s joined with associative wide field optics will require less optical glass and no mechanically moving parts to maintain continuous proper stereo convergence over wider perspective viewing fields than their flat CCD counterparts, lightening the cameras and enabling faster scanning and 3D integration of objects moving within a planetary terrain environment. Preliminary experiments conducted at the Sarnoff Corporation indicate the feasibility of curved CCD imagers with acceptable electro-optic integrity. Currently, we are in the process of evaluating the electro-optic performance of a curved wafer scale CCD imager. Detailed ray trace modeling and experimental electro-optical data performance obtained from the curved imager will be presented at the conference.

Distribution and evolution of scalloped terrain in the southern hemisphere, Mars

NASA Astrophysics Data System (ADS)

Zanetti, Michael; Hiesinger, Harald; Reiss, Dennis; Hauber, Ernst; Neukum, Gerhard

2010-04-01

Scalloped depressions are a unique martian surface morphology found in the northern and southern hemisphere latitude-dependent dust and ice-rich surface mantles. These features exhibit a distinct asymmetric north-south slope profile, characterized by steep pole-facing scarps, flat floors and gentle equator-facing slopes. We examined High Resolution Stereo Camera (HRSC) images of the southern hemisphere to determine their longitudinal distribution, which revealed that a majority of scalloped terrain is located in the region of the southern wall of the Hellas Basin and northern Malea Planum. A detailed map of this area was produced where scallops were found to contour the southern wall of the basin, and where the ice-rich mantle was seen to be thickest. Scalloped terrain is concentrated along the topographic highs near the Amphitrites and Peneus Paterae and areal extent and depth decreases with increasing depth into the basin. We also examined existing hypothesis for the formation and evolution of scalloped depressions using High Resolution Imaging Science Experiment (HiRISE) images and data from the Thermal Emission Imaging System-Infrared (THEMIS-IR) and the Thermal Emission Spectrometer (TES). Our approach provides regional context for the development of scalloped terrains within the southern hemisphere, and offers detailed evidence of scallop depressions forming around small cracks, presumably caused by thermal contraction. Morphometric measurements show that scalloped depressions can be as much as 40 m deep, with typical depths of between 10 and 20 m. Our observations of scallop formation and development in the southern hemisphere support a solar-insolation model proposed by previous researchers (e.g. [Morgenstern, A., Hauber, E., Reiss, D., van Gasselt, S., Grosse, G., Schirrmeister, L., 2007. J. Geophys. Res. 112, CiteID E06010; Lefort, A., Russell, P.S., Thomas, N., McEwen, A.S., Dundas, C.M., Kirk, R.L., 2009a. J. Geophys. Res. 114, E04005; Lefort, A., Russell, P.S., Thomas, N., 2009b. Icarus, in press]). Observations made using HiRISE images suggest that scalloped depressions most likely form from small cracks in the mantle, which become larger and deeper through sublimation of interstitial ice from within the mantle. Sublimation is likely enhanced on equator-facing slopes because of increased solar insolation, which accounts for the asymmetric slope profile and hemispherical orientation and is demonstrated by THEMIS-IR images. We suggest that sublimation lag deposits can possibly be removed by dust devils or strong slope winds related to the Hellas Basin, offering an explanation as to why scalloped terrain is so abundant only in this area of the southern hemisphere. Daytime maximum summer temperatures suggest that sublimation in the study area of Malea Planum is possible under current conditions if the sublimation lag is removed. While it cannot be ruled out that scalloped terrain in Malea Planum is presently evolving, we attribute the extensive distribution to geologically recent obliquity excursions when conditions were more conducive to mesoscale modification of the ice-rich mantle.

Feasibility evaluation and study of adapting the attitude reference system to the Orbiter camera payload system's large format camera

NASA Technical Reports Server (NTRS)

1982-01-01

A design concept that will implement a mapping capability for the Orbital Camera Payload System (OCPS) when ground control points are not available is discussed. Through the use of stellar imagery collected by a pair of cameras whose optical axis are structurally related to the large format camera optical axis, such pointing information is made available.

The Use of Multiple Data Sources in the Process of Topographic Maps Updating

NASA Astrophysics Data System (ADS)

Cantemir, A.; Visan, A.; Parvulescu, N.; Dogaru, M.

2016-06-01

The methods used in the process of updating maps have evolved and become more complex, especially upon the development of the digital technology. At the same time, the development of technology has led to an abundance of available data that can be used in the updating process. The data sources came in a great variety of forms and formats from different acquisition sensors. Satellite images provided by certain satellite missions are now available on space agencies portals. Images stored in archives of satellite missions such us Sentinel, Landsat and other can be downloaded free of charge.The main advantages are represented by the large coverage area and rather good spatial resolution that enables the use of these images for the map updating at an appropriate scale. In our study we focused our research of these images on 1: 50.000 scale map. DEM that are globally available could represent an appropriate input for watershed delineation and stream network generation, that can be used as support for hydrography thematic layer update. If, in addition to remote sensing aerial photogrametry and LiDAR data are ussed, the accuracy of data sources is enhanced. Ortophotoimages and Digital Terrain Models are the main products that can be used for feature extraction and update. On the other side, the use of georeferenced analogical basemaps represent a significant addition to the process. Concerning the thematic maps, the classic representation of the terrain by contour lines derived from DTM, remains the best method of surfacing the earth on a map, nevertheless the correlation with other layers such as Hidrography are mandatory. In the context of the current national coverage of the Digital Terrain Model, one of the main concerns of the National Center of Cartography, through the Cartography and Photogrammetry Department, is represented by the exploitation of the available data in order to update the layers of the Topographic Reference Map 1:5000, known as TOPRO5 and at the same time, through the generalization and additional data sources of the Romanian 1:50 000 scale map. This paper also investigates the general perspective of DTM automatic use derived products in the process of updating the topographic maps.

Near instantaneous production of digital terrain models in the field using smartphone and Structure-from-Motion photogrammetry

NASA Astrophysics Data System (ADS)

Micheletti, Natan; Chandler, Jim; Lane, Stuart

2013-04-01

Whilst high-resolution topographic and terrain data is essential in many geoscience applications, its acquisition has traditionally required either specific expertise (e.g. applications of photogrammetry) or expensive equipment (e.g. ground-based laser altimetric systems). Recent work in geomorphology (e.g. James and Robson, 2012; Carbonneau et al., 2012) has demonstrated the potential of Structure-from-Motion photogrammetry as a low cost, low expertise alternative for Digital Elevation Model (DEM) generation. These methods have geomorphological appeal because the more sophisticated image matching approaches remove many of the geometrical constraints associated with image acquisition: traditionally, vertical and "normal" image pairs acquired with a metric camera. This increases both the number of potential applications and the efficacy of image acquisition in the field. It also allows for genuine 3D (where the same (x,y) can have multiple z values) rather than 2.5D (where each (x,y) must have a unique z value) representation of the terrain surface. In this paper, we progress this technology further, by testing what can be acquired using hand-held smartphone technology, where the acquired images can be uploaded in the field to Open Source technology freely available to the research community. This is achieved by evaluating the quality of DEMs generated with a fully automated, open-source, Structure-from-Motion package and a smartphone (Apple Iphone 4) integrated camera (5 megapixels) using terrestrial laser scanning (TLS) data as benchmark. To allow a more objective assessment, it is necessary to compare both device and package with traditional approaches. Accordingly, we compare the error in the smartphone DEMs with the errors associated with data derived using a 16.2 megapixel digital camera and processed using the more traditional, commercial, close-range and semi-automated software PhotoModeler. Results demonstrate that centimeter precision DTMs can be achieved at close range, using a smartphone camera and a fully automated package, here illustrated for river bank survey. Results improve to sub-centimeter precision with either higher resolution images or by applying specific post-processing techniques to the smartphone DEMs. Extension to the survey of an entire Alpine alluvial fan system shows that the degradation of precision scales linearly with image scale, but that the quality: maintains a good level of precision; and is influenced equally with the difficulties of separating vegetation and sediment cover, typical of laser scanning systems.

Interactive video audio system: communication server for INDECT portal

NASA Astrophysics Data System (ADS)

Mikulec, Martin; Voznak, Miroslav; Safarik, Jakub; Partila, Pavol; Rozhon, Jan; Mehic, Miralem

2014-05-01

The paper deals with presentation of the IVAS system within the 7FP EU INDECT project. The INDECT project aims at developing the tools for enhancing the security of citizens and protecting the confidentiality of recorded and stored information. It is a part of the Seventh Framework Programme of European Union. We participate in INDECT portal and the Interactive Video Audio System (IVAS). This IVAS system provides a communication gateway between police officers working in dispatching centre and police officers in terrain. The officers in dispatching centre have capabilities to obtain information about all online police officers in terrain, they can command officers in terrain via text messages, voice or video calls and they are able to manage multimedia files from CCTV cameras or other sources, which can be interesting for officers in terrain. The police officers in terrain are equipped by smartphones or tablets. Besides common communication, they can reach pictures or videos sent by commander in office and they can respond to the command via text or multimedia messages taken by their devices. Our IVAS system is unique because we are developing it according to the special requirements from the Police of the Czech Republic. The IVAS communication system is designed to use modern Voice over Internet Protocol (VoIP) services. The whole solution is based on open source software including linux and android operating systems. The technical details of our solution are presented in the paper.

Astronaut Ronald Evans photographed during transearth coast EVA

NASA Technical Reports Server (NTRS)

1972-01-01

Astronaut Ronald E. Evans is photographed performing extravehicular activity (EVA) during the Apollo 17 spacecraft's transearth coast. During his EVA Command Module pilot Evans retrieved film cassettes from the Lunar Sounder, Mapping Camera, and Panoramic Camera. The cylindrical object at Evans left side is the mapping camera cassette. The total time for the transearth EVA was one hour seven minutes 19 seconds, starting at ground elapsed time of 257:25 (2:28 p.m.) amd ending at ground elapsed time of 258:42 (3:35 p.m.) on Sunday, December 17, 1972.

Application of computer-generated models using low-bandwidth vehicle data

NASA Astrophysics Data System (ADS)

Heyes, Neil J.

2002-05-01

One of the main issues with remote teleoperation of vehicles is that during visual operation, one relies on fixed camera positions that ultimately constrain the operator's view of the real world. The paper describes a solution that has been developed at QinetiQ where the operator his given a unique virtual perspective of the vehicle and the surrounding terrain as the vehicle operates. This system helps to solve problems that are generic to remote systems, such as reduction of high data transmission rates and providing 360 degree(s) three dimensional operator view positions regardless of terrain features, light levels and near real time operation. A summary of technologies is listed that could be applied to different types of vehicles and placed in many different situations in order to enhance operator spatial awareness.

Western Edge of Mars Marth Crater, a Movie Location

NASA Image and Video Library

2015-10-05

In the best-selling novel "The Martian" and the movie based on it, stranded astronaut Mark Watney's adventures take him to the rim of Mawrth Crater. This image from the High Resolution Imaging Science Experiment (HiRISE) camera on NASA's Mars Reconnaissance Orbiter shows the nature of this terrain. The crater rim is not very distinct, and from the Martian surface it would be quite difficult to tell that you are even on the rim of a crater. The terrain is hummocky and rolling, punctuated by smaller impact craters and wind-blown drifts of sand or dust. This view is one image product from HiRISE observation ESP_042252_1930, taken Aug. 1, 2015, at 12.6 degrees north latitude, 355.7 degrees east longitude. http://photojournal.jpl.nasa.gov/catalog/PIA19915

The Road to 'Bonneville'

NASA Technical Reports Server (NTRS)

2004-01-01

This false-color panoramic camera composite traverse map depicts the Mars Exploration Rover Spirit's journey since landing at Gusev Crater, Mars. It was generated from three of the camera's different wavelength filters (750 nanometers, 530 nanometers and 480 nanometers). This map was created on the 65th martian day, or sol, of Spirit's mission, after Spirit had traveled 328 meters (1076 feet) from its lander to the rim of the crater dubbed 'Bonneville.' From this high point, Spirit was able to capture with its panoramic camera the entire rover traverse. The map points out major stops that Spirit made along the way, including features nicknamed 'Adirondack;' 'Stone Council;' 'Laguna Hollow;' and 'Humphrey.' Also highlighted is the landscape feature informally named 'Grissom Hill' and Spirit's landing site, the Columbia Memorial Station.

APPLICATION OF THE AERIAL PROFILING OF TERRAIN SYSTEM.

USGS Publications Warehouse

Cyran, Edward J.

1985-01-01

The U. S. Geological Survey has completed the performance evaluation flight tests of the Aerial Profiling of Terrain System (APTS) and is now performing a series of application tests to determine its effectiveness and efficiency as an earth-science data collection tool. These tests are designed to evaluate the APTS at such tasks as positioning water wells, testing reliability of older maps, measuring elevations of kettle ponds, and profiling stream valleys for flood studies. The results of three application tests in Massachusetts are discussed: positioning water wells and measuring elevations along the Charles River; testing four older 1:24,000-scale quadrangle maps in the Plymouth area; and measuring elevations of several hundred kettle ponds near the Cape Cod Canal.