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Re: Ingenuity's Trajectory

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Hi,

Francois LE COAT writes :
>> It's possible to reconstruct visible relief, and trajectory from the
>> Ingenuity drone, using a simple video sequence. The monocular disparity
>> is obtained by matching images with a reference, measuring optical-
>> flow. The trajectory is obtained using parameters of the perspective
>> transformation describing successive images...
>>
>> <https://hebergement.universite-paris-saclay.fr/lecoat/demoweb/trajectory.html> 
>>
>>
>> Since April 19, 2021, the Ingenuity helicopter sent to Mars hasn't
>> stopped flying over the planet. It was expected taking off only
>> 5 times, to demonstrate that it was possible. In fact, we are in
>> February 2022, and a final realization of 19th flight over Mars, was
>> attempted. The measurements we take correspond to the 18th flight
>> over planet Mars, dated 15 December 2021.
>>
>> The localization of the piloting assistance camera which is obtained,
>> is not perfect. The lens of this camera has a radial distortion, what
>> is not taken into account by the perspective kinematics model.
> 
> It was planned June 11, 2022, the 29th flight over planet Mars, but
> Martian atmospheric conditions produced a failure. Since that, NASA and
> Ingenuity took winter's vacations, which had not been the case during
> 2021 summer holidays. The seasons on Earth are different from those on
> planet Mars.
> 
> Then on August 19, 2022, the 30th takeoff of the helicopter took place:
> 
>      <https://www.youtube.com/watch?v=4qM_p1tvkNM>
> 
> It gave a brief video, because the takeoff was intended to remove
> dust from Ingenuity, after its long period (2 months) of inactivity.
> 
> Then on September 6, 2022, the 31st flight over Mars took place:
> 
>      <https://www.youtube.com/watch?v=_aOQz6vSaMQ>
> 
> A video has reached us, and image processing have been processed.
> The flying machine survived the Martian winter, which is confirmed
> by success of the 32nd flight, on September 18, for which we have
> no video yet from Caltech/JPL/NASA lab. This is a spatial experience
> that extends beyond all hope :-)

35th flight over Mars happened on December 3, 2022, and was brief...

     <https://www.youtube.com/shorts/xh8OrWKXhBo>

On the other hand, the 36th flight was longer range, and consisted
in one direction and a return to the starting point...

     <https://www.youtube.com/watch?v=fAorexIUXlg>

It was December 10, 2022. What is remarkable is at that hour, the shadow
of Ingenuity on the ground of the planet, does not appear in the eye of
the navigation camera. This improves the quality of the correspondence
of images. The optical flow is less disturbed, and the determination of
the perspective model is more accurate. We observe a almost perfect loop
of the helicopter's flight trajectory.

I wish you a merry Christmas =)

Best regards,

-- 
Dr. François LE COAT
CNRS - Paris - France
<https://hebergement.universite-paris-saclay.fr/lecoat>

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Ingenuity's Trajectory Francois LE COAT <lecoat@atari.org> - 2022-09-27 17:00 +0200
  Re: Ingenuity's Trajectory Francois LE COAT <lecoat@atari.org> - 2022-12-16 16:15 +0100

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