8. Stereo processing examples¶
This chapter showcases a variety of results that are possible when processing different data sets with the Stereo Pipeline. It is also a shortened guide that shows the commands used to process specific mission data. There is no definitive method yet for making elevation models as each stereo pair is unique. We hope that the following sections serve as a cookbook for strategies that will get you started in processing your own data. We recommend that you second check your results against another source.
Structure-from-Motion examples are in Section 9 (using a rig and robot images) and in Section 10 (for orbital images with no rig).
- 8.1. Guidelines for selecting stereo pairs
- 8.2. Mars Reconnaissance Orbiter HiRISE
- 8.3. Mars Reconnaissance Orbiter CTX
- 8.4. Automated Processing of HiRISE and CTX
- 8.5. Mars Global Surveyor MOC-NA
- 8.6. Mars Exploration Rovers
- 8.7. K10
- 8.8. Lunar Reconnaissance Orbiter (LRO) NAC
- 8.9. Apollo 15 Metric Camera images
- 8.10. Mars Express High Resolution Stereo Camera (HRSC)
- 8.11. Cassini ISS NAC
- 8.12. Community Sensor Model
- 8.12.1. The USGS CSM Frame sensor
- 8.12.2. The USGS CSM linescan sensor
- 8.12.3. CSM Pushframe sensor
- 8.12.4. The USGS CSM SAR sensor for LRO Mini-RF
- 8.12.5. CSM cameras for MSL
- 8.12.5.1. Illustration
- 8.12.5.2. Fetch the images and metadata from PDS
- 8.12.5.3. Download the SPICE data
- 8.12.5.4. Set up ALE
- 8.12.5.5. Creation of CSM MSL cameras
- 8.12.5.6. Simple stereo example
- 8.12.5.7. Multi-day stereo
- 8.12.5.8. Mapprojection
- 8.12.5.9. MSL Mast cameras
- 8.12.5.10. Low-resolution MSL Nav cam images
- 8.12.6. Exporting CSM model state
- 8.13. Dawn (FC) Framing Camera
- 8.14. Kaguya Terrain Camera
- 8.15. LRO Mini-RF using ISIS camera models
- 8.16. Using PBS and SLURM
- 8.17. ASTER
- 8.18. DigitalGlobe
- 8.19. RPC camera models
- 8.20. PeruSat-1
- 8.21. Pleiades
- 8.22. SPOT5
- 8.23. SkySat Stereo and Video data
- 8.23.1. Stereo data
- 8.23.2. Video data
- 8.23.3. The input data
- 8.23.4. Initial camera models and a reference DEM
- 8.23.5. Bundle adjustment
- 8.23.6. Creating terrain models
- 8.23.7. Mosaicking and alignment
- 8.23.8. Alignment of cameras
- 8.23.9. Mapprojection
- 8.23.10. When things fail
- 8.23.11. Structure from motion
- 8.23.12. RPC models
- 8.23.13. Bundle adjustment using reference terrain
- 8.23.14. Floating the camera intrinsics
- 8.24. Declassified satellite images: KH-4B
- 8.24.1. Fetching the data
- 8.24.2. Resizing the images
- 8.24.3. Stitching the images
- 8.24.4. Fetching a ground truth DEM
- 8.24.5. Creating camera files
- 8.24.6. Bundle adjustment and stereo
- 8.24.7. Validation of cameras
- 8.24.8. Running stereo
- 8.24.9. DEM generation and alignment
- 8.24.10. Floating the intrinsics
- 8.24.11. Modeling the camera models as pinhole cameras with RPC distortion
- 8.25. Declassified satellite images: KH-7
- 8.26. Declassified satellite images: KH-9
- 8.27. Shallow-water bathymetry
- 8.27.1. Software considerations
- 8.27.2. Physics considerations
- 8.27.3. Computation of the water-land threshold
- 8.27.4. Creation of masks based on the threshold
- 8.27.5. Determination of the water surface
- 8.27.6. Stereo with bathymetry correction
- 8.27.7. Performing sanity checks on a bathy run
- 8.27.8. Bundle adjustment and alignment
- 8.27.9. Validation of alignment
- 8.27.10. Bathymetry with changing water level
- 8.27.11. How to reuse most of a run
- 8.27.12. Bathymetry correction with mapprojected images
- 8.27.13. Using Digital Globe PAN images
- 8.27.14. Using non-Digital Globe images
- 8.27.15. Effect of bathymetry correction on the output DEM
9. SfM examples using a robot rig¶
These examples shows how to solve for camera poses using Structure-from-Motion (SfM) and then create textured meshes.
The images are acquired using a rig mounted on a robot on the ISS (Section 9.1, Section 9.2) and with the MSL Curiosity rover (Section 9.3).
Somewhat related examples, but without using a rig or the above workflow, are in Section 10 (the images are acquired in orbit using a satellite and a DEM is produced) and Section 8.6 (a basic and rather old two-image example for the MER rovers). See also Section 8.12.5 for an example using CSM cameras for the MSL rover, without employing SfM.
- 9.1. A 3-sensor rig example
- 9.2. Mapping the ISS using 2 rigs with 3 cameras each
- 9.2.1. Illustration
- 9.2.2. Overview
- 9.2.3. Data acquisition strategy
- 9.2.4. Challenges
- 9.2.5. Data processing strategy
- 9.2.6. Installing the software
- 9.2.7. Data preparation
- 9.2.8. A first small run
- 9.2.9. Results
- 9.2.10. Scaling up the problem
- 9.2.11. Fine-tuning
- 9.2.12. Surgery with maps
- 9.2.13. Sample rig configuration
- 9.3. MSL navcam example