Modeling and Calibration of Coupled Fish-Eye CCD Camera and Laser Range Scanner for Outdoor Environment Reconstruction

International audiencePrecise and realistic models of outdoor environments such as cities and roads are useful for various applications. In order to do so, geometry and photography of environments must be captured. We present in this paper a coupled system , based on a fish-eye lens CCD camera and a laser range scanner, aimed at capturing color and geometry in this context. To use this system, a revelant model and a accurate calibration method are presented. The calibration method uses a simplified fish-eye model; the method uses only one image for fish-eye parameters, and avoids the use of large calibration pattern as required in others methods. The validity and precision of the method are assessed and example of colored 3D points produced by the system is presented

Measurement of the Cosmic Optical Background using the Long Range Reconnaissance Imager on New Horizons

The cosmic optical background is an important observable that constrains energy production in stars and more exotic physical processes in the universe, and provides a crucial cosmological benchmark against which to judge theories of structure formation. Measurement of the absolute brightness of this background is complicated by local foregrounds like the Earth's atmosphere and sunlight reflected from local interplanetary dust, and large discrepancies in the inferred brightness of the optical background have resulted. Observations from probes far from the Earth are not affected by these bright foregrounds. Here we analyze data from the Long Range Reconnaissance Imager (LORRI) instrument on NASA's New Horizons mission acquired during cruise phase outside the orbit of Jupiter, and find a statistical upper limit on the optical background's brightness similar to the integrated light from galaxies. We conclude that a carefully performed survey with LORRI could yield uncertainties comparable to those from galaxy counting measurements.Comment: 35 pages, 11 figures, published in Nature Communication

An Overview of the Performance of the Chandra X-Ray Observatory

The Chandra X-ray Observatory is the X-ray component of NASA's Great Observatory Program which includes the recently launched Spitzer Infrared Telescope, the Hubble Space Telescope (HST) for observations in the visible, and the Compton Gamma-Ray Observatory (CGRO) which, after providing years of useful data has reentered the atmosphere. All these facilities provide, or provided, scientific data to the international astronomical community in response to peer-reviewed proposals for their use. The Chandra X-ray Observatory was the result of the efforts of many academic, commercial, and government organizations primarily in the United States but also in Europe. NASA's Marshall Space Flight Center (MSFC) manages the Project and provides Project Science; Northrop Grumman Space Technology (NGST -- formerly TRW) served as prime contractor responsible for providing the spacecraft, the telescope, and assembling and testing the Observatory; and the Smithsonian Astrophysical Observatory (SAO) provides technical support and is responsible for ground operations including the Chandra X-ray Center (CXC). Telescope and instrument teams at SAO, the Massachusetts Institute of Technology (MIT), the Pennsylvania State University (PSU), the Space Research Institute of the Netherlands (SRON), the Max-Planck Institut fur extraterrestrische Physik (MPE), and the University of Kiel also provide technical support to the Chandra Project. We present here a detailed description of the hardware, its on-orbit performance, and a brief overview of some of the remarkable discoveries that illustrate that performance.Comment: 71 pages, 66 Figures, accepted for Experimental Astronom

Multi-sensor based object detection in driving scenes

The work done in this internship consists in two main part. The first part is the design of an experimental platform to acquire data for testing and training. To design the experiments, onboard and onroad sensors have been considered. A calibration process has been conducted in order to integrated all the data from different sources. The second part was the use of a stereo system and a laser scanner to extract the free navigable space and to detect obstacles. This has been conducted through the use of an occupancy grid map representation

Real-time algorithms for optimal CCD data reduction in high energy astronomy

This thesis presents novel and reusable algorithms and philosophies for the reduction of data produced by CCD detectors used for space astronomy. Some of the techniques described can be extended to other two-dimensional data sets, and all of them have relevance beyond the particular spacecraft on which they are currently being used. The author began the work described in this thesis in January 1993, looking at ways in which the data produced from a spectroscopic instrument on the XMM-Newton spacecraft could be reduced sufficiently to fit into the comparatively meagre telemetry bandwidth available to it. The work was also constrained by the use of a processor system with many fewer resources available than ideal, but chosen for its reliability and tolerance to radiation, both important factors in a ten-year mission. Chapter one introduces the need for spacecraft onboard data reduction, and the XMM-Newton spacecraft, and its instruments. Chapter two focusses on the principles of operation of CCDs, briefly considering the sources of noise that affect them in use. Chapter three examines the mechanics of the onboard software designed by the author, and arguments are made for trading data quality against data quantity. Chapter four describes the construction of a software, standalone instrument simulator able to quantify the quality of the existing onboard software, provide feedback to settings used, and analyse the impact of future modifications. Chapter five presents results from the testing of the onboard software and early data from the commissioning phase of XMM-Newton. The thesis concludes with some suggestions for further improvements to the onboard software, and hints at possible applications to other observational scenarios involving large data-sets

Assessment of the CORONA series of satellite imagery for landscape archaeology: a case study from the Orontes valley, Syria

In 1995, a large database of satellite imagery with worldwide coverage taken from 1960 until 1972 was declassified. The main advantages of this imagery known as CORONA that made it attractive for archaeology were its moderate cost and its historical value. The main disadvantages were its unknown quality, format, geometry and the limited base of known applications. This thesis has sought to explore the properties and potential of CORONA imagery and thus enhance its value for applications in landscape archaeology. In order to ground these investigations in a real dataset, the properties and characteristics of CORONA imagery were explored through the case study of a landscape archaeology project working in the Orontes Valley, Syria. Present-day high-resolution IKONOS imagery was integrated within the study and assessed alongside CORONA imagery. The combination of these two image datasets was shown to provide a powerful set of tools for investigating past archaeological landscape in the Middle East. The imagery was assessed qualitatively through photointerpretation for its ability to detect archaeological remains, and quantitatively through the extraction of height information after the creation of stereomodels. The imagery was also assessed spectrally through fieldwork and spectroradiometric analysis, and for its Multiple View Angle (MVA) capability through visual and statistical analysis. Landscape archaeology requires a variety of data to be gathered from a large area, in an effective and inexpensive way. This study demonstrates an effective methodology for the deployment of CORONA and IKONOS imagery and raises a number of technical points of which the archaeological researcher community need to be aware of. Simultaneously, it identified certain limitations of the data and suggested solutions for the more effective exploitation of the strengths of CORONA imagery

Advanced scanners and imaging systems for earth observations

Assessments of present and future sensors and sensor related technology are reported along with a description of user needs and applications. Five areas are outlined: (1) electromechanical scanners, (2) self-scanned solid state sensors, (3) electron beam imagers, (4) sensor related technology, and (5) user applications. Recommendations, charts, system designs, technical approaches, and bibliographies are included for each area

New techniques for imaging photon-counting and particle detectors

Since the advent of space-based astronomy in the early 1960's, there has been a need for space-qualified detectors with sufficient sensitivity and resolution to detect and image single photons, ions or electrons. This thesis describes a research programme to develop detectors that fulfil these requirements. I begin by describing the role of detectors in space astronomy and follow with a review of detector technologies, with particular emphasis on imaging techniques. Conductive charge division image readouts offer high performance, simplicity, and flexibility and their potential is investigated in both theory and practice. I introduce the basic design concept and discuss the fundamental factors limiting performance in relation to physical design and to underlying physical processes. Readout manufacturing techniques are reviewed and a novel method presented. I describe specific space and ground-based readout applications which proved valuable in teaching lessons and raising questions. These questions initiated an experimental programme, whose goals were to understand limiting physical processes and find techniques to overcome them. Results are presented, and the innovation of the progressive geometry readout technique, which this programme also spawned, is described. Progressive geometry readout devices, such as the Vernier anode, offer dramatically improved performance and have been successfully flight-proven. I describe the development of a Vernier readout for the J-PEX sounding rocket experiment, and discuss the instrument calibration and the flight programme. First investigations into a next generation of charge division readout design are presented. These devices will use charge comparison instead of amplitude measurement to further enhance resolution and count rate capability. In conclusion, I summarize the advances made during the course of this research, and discuss ongoing technological developments and further work which will enable MCP detectors to continue to excel where characteristics such as true photon-counting ability, high spatial resolution, format flexibility, and high temporal resolution are required

Program Annual Technology Report: Physics of the Cosmos Program Office

From ancient times, humans have looked up at the night sky and wondered: Are we alone? How did the universe come to be? How does the universe work? PCOS focuses on that last question. Scientists investigating this broad theme use the universe as their laboratory, investigating its fundamental laws and properties. They test Einsteins General Theory of Relativity to see if our current understanding of space-time is borne out by observations. They examine the behavior of the most extreme environments supermassive black holes, active galactic nuclei, and others and the farthest reaches of the universe, to expand our understanding. With instruments sensitive across the spectrum, from radio, through infrared (IR), visible light, ultraviolet (UV), to X rays and gamma rays, as well as gravitational waves (GWs), they peer across billions of light-years, observing echoes of events that occurred instants after the Big Bang. Last year, the LISA Pathfinder (LPF) mission exceeded expectations in proving the maturity of technologies needed for the Laser Interferometer Space Antenna (LISA) mission, and the Laser Interferometer Gravitational-Wave Observatory (LIGO) recorded the first direct measurements of long-theorized GWs. Another surprising recent discovery is that the universe is expanding at an ever-accelerating rate, the first hint of so-called dark energy, estimated to account for 75% of mass-energy in the universe. Dark matter, so called because we can only observe its effects on regular matter, is thought to account for another20%, leaving only 5% for regular matter and energy. Scientists now also search for special polarization in the cosmic microwave background to support the notion that in the split-second after the Big Bang, the universe inflated faster than the speed of light! The most exciting aspect of this grand enterprise today is the extraordinary rate at which we can harness technologies to enable these key discoveries