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SEAM-CORRECTED MOSAIC GENERATION AND PROCESS IMPROVEMENT ABSTRACT BACKGROUND PRODUCTS DEVELOPED CONCLUSION The Mars Science Laboratory (MSL) Operational Product Generation Subsystem (OPGS) team is responsible for the creation of “seam-corrected” mosaics comprised of Navcam imagery from each physical location of the Curiosity Rover. While the majority of mosaics used for tactical operations are created during near- daily downlink assessments, automatically- generated mosaics can have significant seams between frames. For this reason, seam-corrected mosaics are created for use by scientists and the general public. Seam-corrected mosaics often require a significant amount of time from an analyst due to strict quality requirements. A set of scripts were developed to improve the overall efficiency of the mosaicking process by simplifying the user interface to the Video Image Communication and Retrieval (VICAR) software suite, which is used to make the mosaics. These scripts execute initial seam and brightness corrections, wrap the tie- pointing library and turn it into an iterative process, create the stereo image, and deliver the database to customers. These scripts were applied to create 10 mosaics, as well as to produce a library of first passes with initial seam and brightness corrections of over 200 mosaics that have not yet been processed. These new scripts reduce analyst involvement and streamline efficiency of mosaic creation. MSL is equipped with four black-and-white Navigation Cameras (Navcams) mounted on the mast (shown in the figure below). Their each have a 45 degree vertical and horizontal field of view [1]. The MSL project makes use of the Navcam mosaic imagery to conduct scientific research, support ground activity, provide a valuable view of the terrain (together with the hazard avoidance cameras), and provide imagery to the public [2].The raw imagery is initially downlinked and then is processed using the VICAR software suite [3]. VICAR is a command-line driven set of programs that provide image co-registration, pointing corrections, and brightness correction functions [4]. Picture taken by NASA's Mars rover, Curiosity, on January 23, 2018 (Sol 1943). The four Navcams are visible on the far left and right below the head. NASA / JPL-Caltech / MSSS Several scripts were developed to automate the seam- corrected mosaic process. The scripts perform as follows: 1. Runs a “first pass” at a seam-corrected mosaic: Generates a mosaic with initial seam-corrections and brightness-corrections using site and drive of the rover as an input. The image to the right is an example of a first pass comprised of imagery from site 56, drive 1122 (sol 1414). 2. Iterates through tie-pointing: Acts as a wrapper around the VICAR marstie program. It enables a user to select which pairs of images require seam-corrections, and executes the appropriate commands that allow the user to edit the tie-points. The image to the right (highlighted in red) is one example of an unacceptable seam between images. The image highlighted in green shows the seam after the user iteratively corrects the tie-points between the two images. 3. Iterates through brightness corrections: Acts as a wrapper around the VICAR marsbrt program. It enables a user to select images that require brightness corrections, and apply the necessary corrections. The image to the right shows brightness corrections applied to a seam between two images in the mosaic. 4. Executes final steps of the process: Produces the final imagery before delivery. Projects left Navcam images into cylindrical, polar, and vertical formats (as seen to the right), creates a right Navcam mosaic based on the corrections from the left Navcam mosaic, and creates the final stereo image using the left and right Navcam imagery, as seen below. It also allows the user to quality check the imagery, and re-create images that don’t look properly seam or brightness corrected. 5. Delivers mosaic products to customers: Delivers the completed final products to the Operational Data Store (ODS) and File Exchange Interface (FEI), posts to MSL reports, and sends a verification email to the user, which allows them to send an email to the MSL science community. Initial seam and brightness corrected mosaic using left Navcam imagery at site 56 drive 1122. Example of tie point corrections between two images in region A at site 56 drive 1122 (second image pair is zoomed in version of center of first pair to show seam better) Example of brightness corrections between two images in region B at site 56 drive 1122. Completed seam and brightness corrected mosaic using left Navcam imagery at site 56 drive 1122. Polar (left) and vertical (right) projected image using left Navcam imagery at site 56 drive 1122. Stereoscopic image created using left and right Navcam imagery at site 56 drive 1122. After both tie-pointing and brightness-corrections are applied, a seam-corrected and brightness-corrected mosaic is complete. The image below shows the completed seam and brightness corrected mosaic for sol 1414. The products developed assist in automating the current seam-corrected and brightness-corrected process. The process used to take somewhere between several hours to several days depending on the complexity of the imagery. Using the newly developed tools, the example displayed to the left (sol 1414) took under one hour to complete. In addition, all 10 mosaics created with these tools have taken under 2 hours to complete. Several software products have been developed which improve efficiency of mosaic creation. These tools were applied for the creation of 10 seam- corrected mosaics. The software has been released to the OPGS team for use in future seam-corrected mosaics. In the future, the command-line products can be expanded on by creating a graphical user interface for easy use. Katie Donahoe, Milwaukee School of Engineering Mentors: Jacqueline Ryan, Robert Deen, Jet Propulsion Laboratory, California Institute of Technology High level flowchart of mosaicking process: (1) first pass, (2) tie- corrections, (3) brightness corrections, (4)final steps, (5) delivery REFERENCES ACKNOWLEDGEMENTS This research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, and was sponsored by the Jet Propulsion Lab Summer Internship Program and the National Aeronautics and Space Administration. RESULTS [1] Maki, J., et al, "The Mars science laboratory engineering cameras", Space science reviews, 170.1- 4, 77-93, 2012. [2] Deen, R., et al, "In-Situ Mosaic Production at JPL/MIPL", 1st Planetary Data Workshop, Flagstaff, AZ, 2012, p. 48. [3] W. Bunch and R. Deen, “VICAR Quick-Start Guide,” 2016. [Online]. Available: https://www- mipl.jpl.nasa.gov/vicar_os/v2.0/vicar- docs/VICAR_guide_2.0.pdf. [4] Deen, R., et al, “Pointing Correction for Mars Surface Mosaics”, 2nd Planetary Data Workshop, Flagstaff, AZ, 2015. Abstract #7055
Transcript of kdonahoe JPL poster - WordPress.com
SEAM-CORRECTED MOSAIC GENERATION ANDPROCESS IMPROVEMENT
ABSTRACT
BACKGROUND
PRODUCTS DEVELOPED
CONCLUSION
The Mars Science Laboratory (MSL) Operational Product Generation Subsystem (OPGS) team is responsible for the creation of “seam-corrected” mosaics comprised of Navcam imagery from each physical location of the Curiosity Rover. While the majority of mosaics used for tactical operations are created during near-daily downlink assessments, automatically-generated mosaics can have significant seams between frames. For this reason, seam-corrected mosaics are created for use by scientists and the general public.
Seam-corrected mosaics often require a significant amount of time from an analyst due to strict quality requirements. A set of scripts were developed to improve the overall efficiency of the mosaicking process by simplifying the user interface to the Video Image Communication and Retrieval (VICAR) software suite, which is used to make the mosaics.
These scripts execute initial seam and brightness corrections, wrap the tie-pointing library and turn it into an iterative process, create the stereo image, and deliver the database to customers. These scripts were applied to create 10 mosaics, as well as to produce a library of first passes with initial seam and brightness corrections of over 200 mosaics that have not yet been processed. These new scripts reduce analyst involvement and streamline efficiency of mosaic creation.
MSL is equipped with four black-and-white Navigation Cameras (Navcams) mounted on the mast (shown in the figure below). Their each have a 45 degree vertical and horizontal field of view [1]. The MSL project makes use of the Navcam mosaic imagery to conduct scientific research, support ground activity, provide a valuable view of the terrain (together with the hazard avoidance cameras), and provide imagery to the public [2].The raw imagery is initially downlinked and then is processed using the VICAR software suite [3]. VICAR is a command-line driven set of programs that provide image co-registration, pointing corrections, and brightness correction functions [4].
Picture taken by NASA's Mars rover, Curiosity, on January 23, 2018 (Sol 1943). The four Navcams are visible on the far left and right below the head.NASA / JPL-Caltech / MSSS
Several scripts were developed to automate the seam-corrected mosaic process. The scripts perform as follows:1. Runs a “first pass” at a seam-corrected mosaic:
Generates a mosaic with initial seam-corrections and brightness-corrections using site and drive of the rover as an input. The image to the right is an example of a first pass comprised of imagery from site 56, drive 1122 (sol 1414).
2. Iterates through tie-pointing: Acts as a wrapper around the VICAR marstie program. It enables a user to select which pairs of images require seam-corrections, and executes the appropriate commands that allow the user to edit the tie-points. The image to the right (highlighted in red) is one example of an unacceptable seam between images. The image highlighted in green shows the seam after the user iteratively corrects the tie-points between the two images.
3. Iterates through brightness corrections: Acts as a wrapper around the VICAR marsbrt program. It enables a user to select images that require brightness corrections, and apply the necessary corrections. The image to the right shows brightness corrections applied to a seam between two images in the mosaic.
4. Executes final steps of the process: Produces the final imagery before delivery. Projects left Navcam images into cylindrical, polar, and vertical formats (as seen to the right), creates a right Navcam mosaic based on the corrections from the left Navcam mosaic, and creates the final stereo image using the left and right Navcamimagery, as seen below. It also allows the user to quality check the imagery, and re-create images that don’t look properly seam or brightness corrected.
5. Delivers mosaic products to customers: Delivers the completed final products to the Operational Data Store (ODS) and File Exchange Interface (FEI), posts to MSL reports, and sends a verification email to the user, which allows them to send an email to the MSL science community.
Initial seam and brightness corrected mosaic using left Navcam imagery at site 56 drive 1122.
Example of tie point corrections between two images in region A at site 56 drive 1122 (second image pair is zoomed in version of center of first pair to show seam better)
Example of brightness corrections between two images in region B at site 56 drive 1122.
Completed seam and brightness corrected mosaic using left Navcam imagery at site 56 drive 1122.
Polar (left) and vertical (right) projected image using left Navcam imagery at site 56 drive 1122.
Stereoscopic image created using left and right Navcam imagery at site 56 drive 1122.
After both tie-pointing and brightness-corrections are applied, a seam-corrected and brightness-corrected mosaic is complete. The image below shows the completed seam and brightness corrected mosaic for sol 1414.
The products developed assist in automating the current seam-corrected and brightness-corrected process. The process used to take somewhere between several hours to several days depending on the complexity of the imagery. Using the newly developed tools, the example displayed to the left (sol 1414) took under one hour to complete. In addition, all 10 mosaics created with these tools have taken under 2 hours to complete.
Several software products have been developed which improve efficiency of mosaic creation. These tools were applied for the creation of 10 seam-corrected mosaics. The software has been released to the OPGS team for use in future seam-corrected mosaics. In the future, the command-line products can be expanded on by creating a graphical user interface for easy use.
Katie Donahoe, Milwaukee School of Engineering Mentors: Jacqueline Ryan, Robert Deen, Jet Propulsion Laboratory, California Institute of Technology
High level flowchart of mosaicking process: (1) first pass, (2) tie-
corrections, (3) brightness corrections, (4)final steps, (5) delivery
REFERENCES
ACKNOWLEDGEMENTSThis research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, and was sponsored by the Jet Propulsion Lab Summer Internship Program and the National Aeronautics and Space Administration.
RESULTS
[1] Maki, J., et al, "The Mars science laboratory engineering cameras", Space science reviews, 170.1-4, 77-93, 2012.[2] Deen, R., et al, "In-Situ Mosaic Production at JPL/MIPL", 1st Planetary Data Workshop, Flagstaff, AZ, 2012, p. 48.[3] W. Bunch and R. Deen, “VICAR Quick-Start Guide,” 2016. [Online]. Available: https://www-mipl.jpl.nasa.gov/vicar_os/v2.0/vicar-docs/VICAR_guide_2.0.pdf. [4] Deen, R., et al, “Pointing Correction for Mars Surface Mosaics”, 2nd Planetary Data Workshop, Flagstaff, AZ, 2015. Abstract #7055
