presented by: 15 oct 2001 neptec laser camera system preliminary post flight results neptec design...
TRANSCRIPT
Presented by:
15 Oct 2001
Neptec Laser Camera SystemPreliminary Post Flight Results
Neptec Design Group
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
LCS on STS 105 - DTO Objectives
Demonstrate: The ability of the LCS to produce 3D digital images from data acquired
on orbit That the LCS data is immune to dynamic lighting conditions That the LCS can generate 3D target centroid data that will allow OSVS
to provide accuracy performance equivalent to CTVC
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Post Flight Analysis Progress
Post Flight Analysis is on going
Analysis of the first two objectives shows that they have
been met. Analysis of the third objective is on going
This presentation provides and interim progress report for
public release
Further interim reports will be released as data becomes
available
A full report in document form will be generated when analysis
is complete.
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Contents of This Report
Description of Flight Data Acquired High Resolution Intensity Image High Resolution Range map 3D Modeling using LCS Data Detailed Study of Canadarm 2 Demonstration Immunity to Lighting Conditions Preliminary Analysis of Range Data Summary
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Flight Data Summary
The Following Data was Acquired: 2x 512x512 “Field of View” images
No range data 4 x 1024x1024 high resolution images
Intensity and Range Maps Over two hours of target centroid data
Analysis The quality of acquired images is high The image data appears to be immune to lighting conditions 3D model creation from range data is in progress Centroid target analysis is on-going
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Intensity Map
The following page shows a picture which has been constructed from the average of the 4 images acquired by the LCS on orbit
This image looks like a standard camera picture, but actually consists of a grid of 1024x1024 separate (and sequential) intensity measurements
Since only the intensity data is included in this image, it is referred to as the “Intensity Map”
The preflight model of the expected Field of View is shown for reference
Note that the image has been scaled by 50% to fit this presentation
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Image Details
Close up of MSS Camera
Soyuz Solar Arrays
FGB and FGB Arrays (image contrast enhanced)
Range > 35m
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Range Map
In addition to the intensity data LCS also acquired range maps for each high resolution image
The data is shown in grey scale image form on the first page. On this page lighter data denotes points closer to the camera
Note that, as the camera was hard mounted in the shuttle payload bay, the data represents a snapshot from a single fixed position
The blue sections show points for which no signal was returned
The areas for which there is no data are largely those which have specular reflecting surfaces which are angled away from the camera in its fixed location in the payload bay
This effect, and possible mitigation techniques will be discussed in the final analysis report
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
3D Modeling using LCS data
The Next two slides show 3D visualizations of the the LCS range data. The data shown in these pictures are not “true” 3D models but rather just raw range data placed in space. This is also known as “point cloud” data
The first page shows the entire set of range data points from approximately the orginal camera perspective
The second page shows a closeup of a segment of the lab module from two different perspective. Note how SVS targets which appear as elongated ovals from the original camera point of view are revealed to be circular when the model is rotated.
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
© 2001 Neptec Design Group
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
© 2001, Neptec Design Group
Target which is oval in initial view is circularwhen view is rotated
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Detailed Study - Canadarm 2 The three pictures on the next page show one possible method of
combining the range and image data. The top picture shows the image map The second photo is the range map (with the grey scale enhanced to
show small range differences on the arm) The third picture shows the intensity map which has been overlaid on
a rendered version of the greyscale range map. (The rendering simulates a light source from the top right of the photo)
The second and third pages show the 3D point cloud data for the arm and for the MSS camera in detail. Note the separation of the cable run from the background structure of the arm
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
© 2001 Neptec Design Group
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
© 2001 Neptec Design Group
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
© 2001 Neptec Design Group
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Immunity To lighting conditions
The following page shows two images taken by the LCS. The image on the left was acquired entirely during orbital daylight. The image on the right was acquired entirely during orbital night The images have been processed using identical adjustments to
brightness, contrast and gamma Also included are two greyscale histograms showing the
number of pixels at each grey level in the original images. The images are identical qualitatively and quantitatively This is evidence that LCS imaging is unaffected by ambient
lighting conditions on orbit.
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Quantitative Analysis of Range Data
The Histogram on the following page shows the distribution of range data acquired by the LCS for one high resolution image
The following page shows the same histogram with a logarithmic scale which enhances lower count data
Notes The data ranges from 5 m (the near end of the Lab) to greater than 35 m
(The FGB and FGB solar arrays) The fact that the Soyuz module is rotated is evident from the fact that the
Soyuz Solar arrays are at different ranges.
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Neptec Design GroupPresenter
Date 15 October 2001Preliminary Post Flight Results
© 2001 - Neptec Design Group
Summary
Post Flight data in support of all DTO objectives was successfully retrieved from the LCS
Analysis is on going The Imaging DTO objective has been met. Unit performance
has already exceeded expectations with range data returned from objects in excess of 35m from camera
Lighting immunity has been demonstrated in 3D imaging mode