Overcoming the Challenges Associated with Image-based Mapping of Small Bodies in Preparation for the OSIRIS-REx Mission to (101955) Bennu

The OSIRIS-REx Asteroid Sample Return Mission is the third mission in NASA's New Frontiers Program and is the first U.S. mission to return samples from an asteroid to Earth. The most important decision ahead of the OSIRIS-REx team is the selection of a prime sample-site on the surface of asteroid (101955) Bennu. Mission success hinges on identifying a site that is safe and has regolith that can readily be ingested by the spacecraft's sampling mechanism. To inform this mission-critical decision, the surface of Bennu is mapped using the OSIRIS-REx Camera Suite and the images are used to develop several foundational data products. Acquiring the necessary inputs to these data products requires observational strategies that are defined specifically to overcome the challenges associated with mapping a small irregular body. We present these strategies in the context of assessing candidate sample-sites at Bennu according to a framework of decisions regarding the relative safety, sampleability, and scientific value across the asteroid's surface. To create data products that aid these assessments, we describe the best practices developed by the OSIRIS-REx team for image-based mapping of irregular small bodies. We emphasize the importance of using 3D shape models and the ability to work in body-fixed rectangular coordinates when dealing with planetary surfaces that cannot be uniquely addressed by body-fixed latitude and longitude.Comment: 31 pages, 10 figures, 2 table

The VLA Galactic Plane Survey

The VLA Galactic Plane Survey (VGPS) is a survey of HI and 21-cm continuum emission in the Galactic plane between longitude 18 degrees 67 degr. with latitude coverage from |b| < 1.3 degr. to |b| < 2.3 degr. The survey area was observed with the Very Large Array (VLA) in 990 pointings. Short-spacing information for the HI line emission was obtained by additional observations with the Green Bank Telescope (GBT). HI spectral line images are presented with a resolution of 1 arcmin x 1 arcmin x 1.56 km/s (FWHM) and rms noise of 2 K per 0.824 km/s channel. Continuum images made from channels without HI line emission have 1 arcmin (FWHM) resolution. VGPS images are compared with images from the Canadian Galactic Plane Survey (CGPS) and the Southern Galactic Plane Survey (SGPS). In general, the agreement between these surveys is impressive, considering the differences in instrumentation and image processing techniques used for each survey. The differences between VGPS and CGPS images are small, < 6 K (rms) in channels where the mean HI brightness temperature in the field exceeds 80 K. A similar degree of consistency is found between the VGPS and SGPS. The agreement we find between arcminute resolution surveys of the Galactic plane is a crucial step towards combining these surveys into a single uniform dataset which covers 90% of the Galactic disk: the International Galactic Plane Survey (IGPS). The VGPS data will be made available on the World Wide Web through the Canadian Astronomy Data Centre (CADC).Comment: Accepted for publication in The Astronomical Journal. 41 pages, 13 figures. For information on data release, colour images etc. see http://www.ras.ucalgary.ca/VGP

Multiperspective mosaics and layered representation for scene visualization

This thesis documents the efforts made to implement multiperspective mosaicking for the purpose of mosaicking undervehicle and roadside sequences. For the undervehicle sequences, it is desired to create a large, high-resolution mosaic that may used to quickly inspect the entire scene shot by a camera making a single pass underneath the vehicle. Several constraints are placed on the video data, in order to facilitate the assumption that the entire scene in the sequence exists on a single plane. Therefore, a single mosaic is used to represent a single video sequence. Phase correlation is used to perform motion analysis in this case. For roadside video sequences, it is assumed that the scene is composed of several planar layers, as opposed to a single plane. Layer extraction techniques are implemented in order to perform this decomposition. Instead of using phase correlation to perform motion analysis, the Lucas-Kanade motion tracking algorithm is used in order to create dense motion maps. Using these motion maps, spatial support for each layer is determined based on a pre-initialized layer model. By separating the pixels in the scene into motion-specific layers, it is possible to sample each element in the scene correctly while performing multiperspective mosaicking. It is also possible to fill in many gaps in the mosaics caused by occlusions, hence creating more complete representations of the objects of interest. The results are several mosaics with each mosaic representing a single planar layer of the scene

Automatic Detection of Cone Photoreceptors In Split Detector Adaptive Optics Scanning Light Ophthalmoscope Images

Quantitative analysis of the cone photoreceptor mosaic in the living retina is potentially useful for early diagnosis and prognosis of many ocular diseases. Non-confocal split detector based adaptive optics scanning light ophthalmoscope (AOSLO) imaging reveals the cone photoreceptor inner segment mosaics often not visualized on confocal AOSLO imaging. Despite recent advances in automated cone segmentation algorithms for confocal AOSLO imagery, quantitative analysis of split detector AOSLO images is currently a time-consuming manual process. In this paper, we present the fully automatic adaptive filtering and local detection (AFLD) method for detecting cones in split detector AOSLO images. We validated our algorithm on 80 images from 10 subjects, showing an overall mean Dice’s coefficient of 0.95 (standard deviation 0.03), when comparing our AFLD algorithm to an expert grader. This is comparable to the inter-observer Dice’s coefficient of 0.94 (standard deviation 0.04). To the best of our knowledge, this is the first validated, fully-automated segmentation method which has been applied to split detector AOSLO images

Characterizing the Adaptive Optics Off-Axis Point-Spread Function - I: A Semi-Empirical Method for Use in Natural-Guide-Star Observations

Even though the technology of adaptive optics (AO) is rapidly maturing, calibration of the resulting images remains a major challenge. The AO point-spread function (PSF) changes quickly both in time and position on the sky. In a typical observation the star used for guiding will be separated from the scientific target by 10" to 30". This is sufficient separation to render images of the guide star by themselves nearly useless in characterizing the PSF at the off-axis target position. A semi-empirical technique is described that improves the determination of the AO off-axis PSF. The method uses calibration images of dense star fields to determine the change in PSF with field position. It then uses this information to correct contemporaneous images of the guide star to produce a PSF that is more accurate for both the target position and the time of a scientific observation. We report on tests of the method using natural-guide-star AO systems on the Canada-France-Hawaii Telescope and Lick Observatory Shane Telescope, augmented by simple atmospheric computer simulations. At 25" off-axis, predicting the PSF full width at half maximum using only information about the guide star results in an error of 60%. Using an image of a dense star field lowers this error to 33%, and our method, which also folds in information about the on-axis PSF, further decreases the error to 19%.Comment: 29 pages, 9 figures, accepted for publication in the PAS

A Mid-Infrared Galaxy Atlas (MIGA)

A mid-infrared atlas of part of the Galactic plane ($75^\circ < l < 148^\circ, b = \pm6^\circ$) has been constructed using HIRES processed infrared data to provide a mid-infrared data set for the Canadian Galactic Plane Survey (CGPS). The addition of this data set to the CGPS will enable the study of the emission from the smallest components of interstellar dust at an angular resolution comparable to that of the radio, millimetre, and far-infrared data in the CGPS. The Mid-Infrared Galaxy Atlas (MIGA) is a mid-infrared (12 $\mu$m and 25 $\mu$m) counterpart to the far-infrared IRAS Galaxy Atlas (IGA), and consists of resolution enhanced ($\sim 0.5'$ resolution) HIRES images along with ancillary maps. This paper describes the processing and characteristics of the atlas, the cross-beam simulation technique used to obtain high-resolution ratio maps, and future plans to extend both the IGA and MIGA.Comment: 38 pages (including 15 tables), 13 figures (8 dithered GIF and 5 EPS). Submitted to Astrophysical Journal Supplement Series. A preprint with higher resolution figures is available at http://www.cita.utoronto.ca/~kerton/publications.htm

Image Sampling with Quasicrystals

We investigate the use of quasicrystals in image sampling. Quasicrystals produce space-filling, non-periodic point sets that are uniformly discrete and relatively dense, thereby ensuring the sample sites are evenly spread out throughout the sampled image. Their self-similar structure can be attractive for creating sampling patterns endowed with a decorative symmetry. We present a brief general overview of the algebraic theory of cut-and-project quasicrystals based on the geometry of the golden ratio. To assess the practical utility of quasicrystal sampling, we evaluate the visual effects of a variety of non-adaptive image sampling strategies on photorealistic image reconstruction and non-photorealistic image rendering used in multiresolution image representations. For computer visualization of point sets used in image sampling, we introduce a mosaic rendering technique.Comment: For a full resolution version of this paper, along with supplementary materials, please visit at http://www.Eyemaginary.com/Portfolio/Publications.htm