Stereo Panoramic Imaging

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Stereo Panoramic Imaging

• Life in the Atacama 2004Rover and Instruments
  Workshop
• Michael Wagner, David Pane, Stuart Heys,
  Francisco CalderónRobotics Institute, Carnegie
  Mellon University

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Introduction

• The purpose of this talk is to describe how the
  Stereo Panoramic Imaging (SPI) instrument onboard
  Zoë can be used to search for life in the Atacama
  Desert
• Collect high resolution science imagery
• Reconstruct 3D model of site
• Plan local traverses and science operations
• In particular, I will discuss
• Instrument characteristics
• Data products
• Correlating readings from multiple instruments

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Imager Characteristics

• Sony DFW-900
• Color
• 12-bit color
• 400 700 nm sensitivity
• Resolution
• 1280x960 pixels
• 21.1-degree HFOV
• Results in 0.28 mrad / pixel

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Image Data Products

• Snapshot
• One, two or three images (left, middle, right
  cameras)
• Up to 1280x960 pixels, 12-bit color
• lt 5 sec to capture
• Panorama
• Horizontal ?180 deg field of regard _at_ 10-deg
  steps
• Vertical -45 to 15 deg field of regard _at_ 10-deg
  steps
• One, two or three images taken at once
• Up to 1280x960 pixels, 12-bit color
• 10 minutes to collect

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Multi-camera Characteristics

• Three cameras, two stereo pairs
• Near-field pair
• 30-cm baseline
• Deduces range up to about 15 m
• Primarily used for science
• Far-field pair
• 60-cm baseline
• Deduces range beyond 15 m
• Used for far-field navigation and science
• projected

30 cm
SPI camera on Hyperion Atacama 2003
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3D Data Products
Next Steps Point clouds and meshes
Image from 30-cm baseline
mm
Range map
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Correlating Readings
SPI VIS/NIR
FI
Workspace Cams
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Remaining Issues

• Imagery
• Improve color balance and exposure setting,
  especially throughout panoramas
• Near-field stereo
• Clean up range maps so they can be converted to
  3D meshes
• Far-field stereo
• Calibrate 60-cm stereo pair
• Create range maps and 3D meshes
• Construct, test and integrate new pan/tilt unit
• Test visualization tools web and EventScope