Visual communication with retinex coding.

Visual communication with retinex coding seeks to suppress the spatial variation of the irradiance (e.g., shadows) across natural scenes and preserve only the spatial detail and the reflectance (or the lightness) of the surface itself. The separation of reflectance from irradiance begins with nonlinear retinex coding that sharply and clearly enhances edges and preserves their contrast, and it ends with a Wiener filter that restores images from this edge and contrast information. An approximate small-signal model of image gathering with retinex coding is found to consist of the familiar difference-of-Gaussian bandpass filter and a locally adaptive automatic-gain control. A linear representation of this model is used to develop expressions within the small-signal constraint for the information rate and the theoretical minimum data rate of the retinex-coded signal and for the maximum-realizable fidelity of the images restored from this signal. Extensive computations and simulations demonstrate that predictions based on these figures of merit correlate closely with perceptual and measured performance. Hence these predictions can serve as a general guide for the design of visual communication channels that produce images with a visual quality that consistently approaches the best possible sharpness, clarity, and reflectance constancy, even for nonuniform irradiances. The suppression of shadows in the restored image is found to be constrained inherently more by the sharpness of their penumbra than by their depth.

Image gathering and processing: information and fidelity.

In this paper we formulate and use information and fidelity criteria to assess image gathering and processing, combining optical design with image-forming and edge-detection algorithms. The optical design of the image-gathering system revolves around the relationship among sampling passband, spatial response, and signal-to-noise ratio (SNR). Our formulations of information, fidelity, and optimal (Wiener) restoration account for the insufficient sampling (i.e., aliasing) common in image gathering as well as for the blurring and noise that conventional formulations account for. Performance analyses and simulations for ordinary optical-design constraints and random scenes indicate that (1) different image-forming algorithms prefer different optical designs; (2) informationally optimized designs maximize the robustness of optimal image restorations and lead to the highest-spatial-frequency channel (relative to the sampling passband) for which edge detection is reliable (if the SNR is sufficiently high); and (3) combining the informationally optimized design with a 3 by 3 lateral-inhibitory image-plane-processing algorithm leads to a spatial-response shape that approximates the optimal edge-detection response of (Marr's model of) human vision and thus reduces the data preprocessing and transmission required for machine vision.

Information efficiency of line-scan imaging mechanisms.

Information theory is used to formulate a single figure of merit for assessing the performance of line-scan imaging systems as a function of their spatial response (PSF or MTF), sensitivity, and sampling and quantization intervals and of the statistical properties of a random radiance field. Information density and efficiency (i.e., the ratio of information density to data density) tend to be optimum when the MTF and sampling passband of the imaging system are matched to the Wiener spectrum of the radiance field. Computational results for the statistical properties of natural radiance fields and the responses of common line-scan imaging mechanisms indicate that information density and efficiency are not strongly sensitive to variations in typical statistical properties of the radiance field and that the best practically realizable performance is approached when the sampling intervals are ~0.5-0.7 times the equivalent diameter of the PSF.

Aliasing and blurring in 2-D sampled imagery.

The quality of image reconstructions from discrete data suffers not only from the blurring of spatial detail caused by limitations in the spatial frequency response of electrooptical systems, but also from the aliasing generated if spatial detail has been undersampled. P. Mertz and F. Grey [Bell Syst. Tech. J. 13, 464 (1934)] and O. H. Schade [J. Soc. Motion Pict. Telev. Eng. 56, 131 (1955); 58, 181 (1952); 61, 97 (1953); 64, 593 (1955)] have observed that reasonable spot intensity profiles and photosensor aperture shapes of equivalent size result in about equal blurring but that some profiles and shapes suppress aliasing better than others. This paper presents quantitative results of the magnitude of aliasing and blurring as a function of random radiancefields typical for natural scenes and of spatial responses and sampling intervals typical for TV cameras and optical-mechanical scanners. These results indicate that aliasing may often be a larger source of degradation than either blurring or electronic noise.

Quasi-microscope concept for planetary missions.

Viking lander cameras have returned stereo and multispectral views of the Martian surface with a resolution that approaches 2 mm/lp in the near field. A two-orders-of-magnitude increase in resolution could be obtained for collected surface samples by augmenting these cameras with auxiliary optics that would neither impose special camera design requirements nor limit the cameras field of view of the terrain. Quasi-microscope images would provide valuable data on the physical and chemical characteristics of planetary regoliths.

Estimation of spectral reflectance curves from multispectral image data.

A technique is presented for estimating spectral reflectance curves from multispectral image data even if the spectral samples are obtained from channels whose spectral responsivity is not narrowband. It is demonstrated that these reflectance estimates can be written as a linear combination of the spectral samples and that, analogous to Shannon's sampling theorem, if the spectral reflectance is a natural cubic spline, it can be estimated exactly provided the number of spectral channels is sufficiently large. Simulation results suggest that the accuracy of the spectral reflectance estimates is quite good and very insensitive to the spectral responsivity shapes.

The surface of Mars: the view from the viking 2 lander.

Viking 2 lander began imaging the surface of Mars at Utopia Planitia on 3 September 1976. The surface is a boulder-strewn reddish desert cut by troughs that probably form a polygonal network. A plateau can be seen to the east of the spacecraft, which for the most probable lander location is approximately the direction of a tongue of ejecta from the crater Mie. Boulders at the lander 2 site are generally more vesicular than those near lander i. Fines at both lander sites appear to be very fine-grained and to be bound in a duricrust. The pinkish color of the sky, similar to that observed at the lander I site, indicates suspension of surface material. However, the atmospheric optical depth is less than that at the lander I site. After dissipation of a cloud of dust stirred during landing, no changes other than those stemming from sampling activities have been detected in the landscape. No signs of large organisms are apparent at either landing site.

Fine particles on Mars: observations with the viking 1 lander cameras.

Drifts of fine-grained sediment are present in the vicinity of the Viking 1 lander. Many drifts occur in the lees of large boulders. Morphologic analysis indicates that the last dynamic event was one of general deflation for at least some drifts. Particle cohesion implies that there is a distinct small-particle upturn in the threshold velocity-particle size curve; the apparent absence of the most easily moved particles (150 micrometers in diameter) may be due to their preferential transport to other regions or their preferential collisional destruction. A twilight rescan with lander cameras indicates a substantial amount of red dust with mean radius on the order of 1 micrometer in the atmosphere.

The surface of Mars: there view from the viking 1 lander.

The first photographs ever returned from the surface of Mars were obtained by two facsimile cameras aboard the Viking 1 lander, including black-and-white and color, 0.12 degrees and 0.04 degrees resolution, and monoscopic and stereoscopic images. The surface, on the western slopes of Chtyse Planitia, is a boulder-strewn deeply reddish desert, with distant eminences-some of which may be the rims of impact craters-surmounted by a pink sky. Both impact and aeolian processes are evident. After dissipation of a small dust cloud stirred by the landing maneuvers, no subsequent signs of movement were detected on the landscape, and nothing has been observed that is indicative of macroscopic biology at this time and place.

Image quality prediction: an aid to the Viking Lander imaging investigation on Mars.

Two Viking spacecraft scheduled to land on Mars in the summer of 1976 will return multispectral panoramas of the Martian surface with resolutions 4 orders of magnitude higher than have been previously obtained and stereo views with resolutions approaching that of the human eye. Mission constraints and uncertainties require a carefully planned imaging investigation that is supported by a computer model of camera response and surface features to aid in diagnosing camera performance, in establishing a preflight imaging strategy, and in rapidly revising this strategy if pictures returned from Mars reveal unfavorable or unanticipated conditions.

Optical-mechanical line-scan imaging process: its information capacity and efficiency.

An expression for the information capacity of the optical-mechanical line-scan imaging process is derived, which includes the effects of blurring of spatial detail, photosensor noise, aliasing, and quantization. Both the information capacity for a fixed data density and the information efficiency (i.e., the ratio of information capacity to data density) exhibit a distinct single maximum when displayed as a function of sampling rate, and the location of this maximum is determined by the system frequency response shape, SNR, and quantization interval.

Photosensor aperture shaping to reduce aliasing in optical-mechanical line-scan imaging systems.

Optical-mechanical scanning techniques are generally employed in instruments specifically designed to characterize variations in scene brightness spectrally or radiometrically. The effect of aliasing, which can be caused by line-scan sampling, on the spatial detail of the reconstructed image has therefore been of little concern. Emphasis of some recent applications of optical-mechanical scanning techniques is, however, on the spatial characterization of the scene. As is shown here, such images can be severely degraded by aliasing. Photosensor aperture shaping and line-scan spacing are investigated as a means for reducing this degradation.