Digital Terrain, Image and Albedo Mosaics from Apollo Metric Cam- era Imagery. Ara V Nefian 1,2 , Zach Moratto 2 , Ross Beyer 3 , Michael Broxton 1,2 ,Taemin Kim 2 and Terry Fong 2 , 1 Carnegie Mellon University, 2 NASA Ames Research Center, MS 245-3, Moffett Field, CA, USA (ara.nefi[email protected]), 3 Carl Sagan Center at the SETI Institute The images captured by the Apollo metric camera (AMC), and recently scanned in digital format, con- tain rich information that supports the creation of accu- rate digital terrain, image and albedo maps of the Lu- nar surface. The goal of this paper is to present the most recent results in mapping the Apollo 15 zone us- ing an open source software package developed at NASA Ames. The terrain, image and albedo maps are generated an unprecedented resolution (10m/pixel and 40m/pixel for DTM) for the complete coverage of the Lunar equa- torial zone covered by the Apollo 15 mission. The tech- niques used by our software will be used to complete the maps of the entire Apollo zone including Apollo 16 and 17 missions as well as the more recent Lunar missions. The AMC stereo pairs [1] generate high resolution digital terrain mosaics (DTM) using the Ames Stereo Pipeline [2]. A robust bundle adjustment technique [3] Figure 1: Digital terrain mosaics before (left) and after (right) using our bundle adjustment technique. refines the original estimates for the orientation and po- sition of the AMC and co-registers the stereo image pairs into an accurate digital terrain mosaic. Figure 1 shows the colorized hillshade of the resulting DTM before and after using our robust bundle adjustment technique. Figure 2 shows an image mosaic of the entire Apollo 15 zone and a detail around the landing site using a mo- saicking technique that compensates for various levels of exposure and reflectance. The resulting image mosaic is generated at 10m/pixel resolution. Figure 3 illustrates our preliminary results in recon- struction the Lunar albedo map using a technique de- scribed in [4] and that uses the computed DTM and the Lunar-Lambertian reflectance model. Figure 2: Image mosaic of the Apollo 15 zone (top) and a detail around the landing site (bottom). Figure 3: Albedo mosaic of the Orbit 33 of Apollo 15 mission. References [1] M. J. Broxton, Z. M. Moratto, A. Nefian, M. Bunte, and M. S. Robinson. Preliminary Stereo Reconstruction from Apollo 15 Metric Camera Imagery. 40th Lunar and Plan- etary Science Conference, 2009. [2] Ara V. Nefian, Kyle Husmann, Michael J. Broxton, Vinh To, Michael Lundy, and Matthew Hancher. A Bayesian Formulation for Sub-pixel Refinement in Stereo Orbital Imagery. IEEE International Conference on Image Pro- cessing, 85, November 2009. [3] Michael J. Broxton, Ara V. Nefian, Zachary Moratto, Taemin Kim, Michael Lundy, and Aleksandr V. Segal. 3D Lunar Terrain Reconstruction from Apollo Images. Inter- national Symposium on Visual Computing, 2009. [4] Ara V. Nean, Taemin Kim, Michael Broxton, Ross Beyer, and Zach Moratto. Towards Albedo Reconstruction From Apollo Metric Camera Imagery. 41st Lunar and Planetary Science Conference, 2010. 3071.pdf Annual LEAG Meeting (2010)
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Digital Terrain, Image and Albedo Mosaics from Apollo Metric Cam-era Imagery. Ara V Nefian1,2, Zach Moratto2, Ross Beyer3, Michael Broxton1,2,Taemin Kim2 andTerry Fong2, 1Carnegie Mellon University, 2NASA Ames Research Center, MS 245-3, Moffett Field, CA, USA([email protected]),3Carl Sagan Center at the SETI Institute
The images captured by the Apollo metric camera(AMC), and recently scanned in digital format, con-tain rich information that supports the creation of accu-rate digital terrain, image and albedo maps of the Lu-nar surface. The goal of this paper is to present themost recent results in mapping the Apollo 15 zone us-ing an open source software package developed at NASAAmes. The terrain, image and albedo maps are generatedan unprecedented resolution (10m/pixel and 40m/pixelfor DTM) for the complete coverage of the Lunar equa-torial zone covered by the Apollo 15 mission. The tech-niques used by our software will be used to complete themaps of the entire Apollo zone including Apollo 16 and17 missions as well as the more recent Lunar missions.
The AMC stereo pairs [1] generate high resolutiondigital terrain mosaics (DTM) using the Ames StereoPipeline [2]. A robust bundle adjustment technique [3]
Figure 1: Digital terrain mosaics before (left) and after(right) using our bundle adjustment technique.
refines the original estimates for the orientation and po-sition of the AMC and co-registers the stereo image pairsinto an accurate digital terrain mosaic. Figure 1 showsthe colorized hillshade of the resulting DTM before andafter using our robust bundle adjustment technique.
Figure 2 shows an image mosaic of the entire Apollo15 zone and a detail around the landing site using a mo-saicking technique that compensates for various levels ofexposure and reflectance. The resulting image mosaic isgenerated at 10m/pixel resolution.
Figure 3 illustrates our preliminary results in recon-struction the Lunar albedo map using a technique de-scribed in [4] and that uses the computed DTM and theLunar-Lambertian reflectance model.
Figure 2: Image mosaic of the Apollo 15 zone (top) anda detail around the landing site (bottom).
Figure 3: Albedo mosaic of the Orbit 33 of Apollo 15mission.
References
[1] M. J. Broxton, Z. M. Moratto, A. Nefian, M. Bunte, andM. S. Robinson. Preliminary Stereo Reconstruction fromApollo 15 Metric Camera Imagery. 40th Lunar and Plan-etary Science Conference, 2009.
[2] Ara V. Nefian, Kyle Husmann, Michael J. Broxton, VinhTo, Michael Lundy, and Matthew Hancher. A BayesianFormulation for Sub-pixel Refinement in Stereo OrbitalImagery. IEEE International Conference on Image Pro-cessing, 85, November 2009.
[3] Michael J. Broxton, Ara V. Nefian, Zachary Moratto,Taemin Kim, Michael Lundy, and Aleksandr V. Segal. 3DLunar Terrain Reconstruction from Apollo Images. Inter-national Symposium on Visual Computing, 2009.
[4] Ara V. Nean, Taemin Kim, Michael Broxton, Ross Beyer,and Zach Moratto. Towards Albedo Reconstruction FromApollo Metric Camera Imagery. 41st Lunar and PlanetaryScience Conference, 2010.
3071.pdfAnnual LEAG Meeting (2010)
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