3 ms·

It'd be pretty neat to lift this up into 3d - you could probably reverse the transforms to find the camera pose for each frame, then drop it into a scene alongs

by saulrh 6y ago

It'd be pretty neat to lift this up into 3d - you could probably reverse the transforms to find the camera pose for each frame, then drop it into a scene alongside the camera frustum and the topography so we can see exactly how much steering the descent stage did to hit its target and how fast it was descending at every stage.

zokier 6y ago
On the other hand, I'd fully expect NASA/JPL to have IMU telemetry from the EDL. If I'm not completely mistaken, they would eventually get published in PDS here: https://naif.jpl.nasa.gov/naif/data.html https://naif.jpl.nasa.gov/naif/data.html For example for MSL (Curiosity, the previous rover) the EDL CK and SPK provides orientation and position data if I'm interpreting this description right: https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/catalog/spiceds.cat https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1... The downside being that it'll take probably 6-12 months until the data is put to public (EDL = entry, descent, landing; IMU = inertial measurement unit; PDS = planetary data system)
- MrSourz 6y ago
  I’ve been thinking more about the navigation of their little helicopter. On earth were used to being able to use GPS for route planning. If you could use this process in reverse to constantly determine ones position in 3D space above the surface using stored satellite imagery with a downward facing camera cross referenced with whatever gyro / accelerometer based positioning they’re using I wonder if there’d be any benefit. Maybe what they’ve got already is sufficient for anything you’d want to do in the near future.
  - zokier 6y ago
    > If you could use this process in reverse to constantly determine ones position in 3D space above the surface using stored satellite imagery with a downward facing camera cross referenced with whatever gyro / accelerometer based positioning they’re using I wonder if there’d be any benefit That is pretty much exactly how TRN worked for the EDL. I don't think Ingenuity has much in terms of navigation ability, probably just basic INS. But its also not intended to fly any extended distances, so it doesn't really need any navigation abilities. I'd imagine future copters would use TRN style navigation. (TRN = terrain relative navigation)

by saulrh 6y ago

zokier 6y ago

On the other hand, I'd fully expect NASA/JPL to have IMU telemetry from the EDL. If I'm not completely mistaken, they would eventually get published in PDS here: https://naif.jpl.nasa.gov/naif/data.html https://naif.jpl.nasa.gov/naif/data.html For example for MSL (Curiosity, the previous rover) the EDL CK and SPK provides orientation and position data if I'm interpreting this description right: https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/catalog/spiceds.cat https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1... The downside being that it'll take probably 6-12 months until the data is put to public (EDL = entry, descent, landing; IMU = inertial measurement unit; PDS = planetary data system)

MrSourz 6y ago
I’ve been thinking more about the navigation of their little helicopter. On earth were used to being able to use GPS for route planning. If you could use this process in reverse to constantly determine ones position in 3D space above the surface using stored satellite imagery with a downward facing camera cross referenced with whatever gyro / accelerometer based positioning they’re using I wonder if there’d be any benefit. Maybe what they’ve got already is sufficient for anything you’d want to do in the near future.
- zokier 6y ago
  > If you could use this process in reverse to constantly determine ones position in 3D space above the surface using stored satellite imagery with a downward facing camera cross referenced with whatever gyro / accelerometer based positioning they’re using I wonder if there’d be any benefit That is pretty much exactly how TRN worked for the EDL. I don't think Ingenuity has much in terms of navigation ability, probably just basic INS. But its also not intended to fly any extended distances, so it doesn't really need any navigation abilities. I'd imagine future copters would use TRN style navigation. (TRN = terrain relative navigation)