NDLI: LIDAR to image coregistration on orbital data

Content Provider	IEEE Xplore Digital Library
Author	Coltin, B. Nefian, A.
Copyright Year	2013
Description	Author affiliation: Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Coltin, B.) \|\| Intell. Robot. Group, NASA Ames, Mountain View, CA, USA (Nefian, A.)
Abstract	In 2009, the Lunar Reconnaissance Orbiter (LRO) launched with the Lunar Orbiter Laser Altimeter (LOLA), an instrument that precisely measures the Moon's surface elevation. LOLA is recorded in Lunar polar tracks, making this data particularly sparse in the equatorial regions where NASA has large sets of orbital images captured over the last five decades. The coregistration of orbital images (often taken from an imprecise spacecraft camera pose) and the precise but sparse LOLA measurements is crucial in building large scale, accurate lunar maps that support current and near term NASA and international space agencies' missions to the Moon. In this paper we introduce a novel algorithm for matching orbital images captured during Apollo 15, 16 and 17 missions with LIDAR data captured by the LOLA instrument. The surface normals extracted from each LOLA shot, the Apollo Metric camera pose, Sun position at image caption time and the lunar albedo are used to estimate a synthetic orbital image used as reference. We then use the Gauss-Newton algorithm to precisely align the actual (Apollo) orbital image to this reference image to progressively higher resolution layers of the image pyramid.
Starting Page	775
Ending Page	779
File Size	1394681
Page Count	5
File Format	PDF
ISBN	9781479923410
DOI	10.1109/ICIP.2013.6738160
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-15
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Moon Laser radar Measurement by laser beam Space vehicles Cameras Extraterrestrial measurements Surface topography image pyramid LIDAR image coregistration Gauss-Newton
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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