Advanced Technologies are answers to customers’ really difficult questions• We ask customers what they would like to do with our software but can’t, because:
• The capability doesn’t exist• It’s too laborious• It’s too slow• It’s not accurate enough
• We have significant experience in the development of advanced technologies• Scientists in San Diego and Durham working on hard problems to develop capabilities in the production software and on
government programs including Contract Research and Development (CRAD), Cooperative Research and Development Agreement (CRADA), proposals, white papers
• Many PhD and MS scientists and engineers• Joint projects with top scientists and engineers in other parts of BAE Systems, e.g. FastLabs, and across the defense
industry and academia• Advanced technologies that we develop go into GXP commercial off the shelf (COTS) products
GXP360º Professional Exchange and WorkshopMarch 18-22, 2019 | San Diego, California
• Rigorous sensor models not only enable more accurate work, but are necessary for advanced photogrammetric workflows, e.g. terrain generation, orthorectification
• Sensor models are not quite R&D; mainly they are routine development, but sometimes a new one reveals unexpected problems
• BAE Systems San Diego has world experts in this field. (CSM, MSP, CGS, …)• What is a sensor model?
• Image-to-ground and ground-to-image equations• Statement of which parameters are adjustable• Rigorous error propagation
GXP360º Professional Exchange and WorkshopMarch 18-22, 2019 | San Diego, California
List in alphabetical order of sensor supplier• Not suggestive of all the data formats and sensors that GXP software can read• Color coding indicates product evolution
• Shipped in SOCET GXP® v4.1• Shipped in SOCET GXP v4.2• Shipped in SOCET GXP v4.3• Under development; currently unscheduled
• Trend is towards increased use of more capable generic models• Generic Frame Model (GFM)• Generic Linear Array Sensor (GLAS)• Sensor Independent Complex / Derived Data (SICD / SIDD) generic models for Synthetic Aperture Radar (SAR) imagery• Replacement Sensor Model (RSM)• Ground Point Model (GPM) for Lidar point clouds• GFM Bundle Model for video clips
GXP360º Professional Exchange and WorkshopMarch 18-22, 2019 | San Diego, California
• U.S. government formats• Arc Standard Raster Product (ASRP)• Compressed ARC Digitized Raster Product (CADRG)• Controlled Image Base (CIB)*• Digital Point Positioning Data Base (DPPDB)**• Generic Point-Cloud Model (GPM, formerly known as ULEM)• NCDRD
• GeoEye-1• WorldView-1/2/3
• SENSRA Frame• SENSRB Frame• USGS DOQ• USMSD
GXP360º Professional Exchange and WorkshopMarch 18-22, 2019 | San Diego, California
Video CSM – Experiment 1SENSRB recreate every time
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• This uses a CSM NITF ISD in which SENSRB and AIMIDB are used to create a model • The plugin parses the SENSRB and AIMIDB information into structures, then it processes the data into an NVList which
the sensor model is created from • This approach was really slow until two changes were made to SENSRB plugin:
• Changed getElev() to keep the TerrainBaseUtil around; This keeps the terrain base loaded and reduced ground elevation retrieval time• Alternatively, we can work-around outside the model by filling out SENSRB module 11 with a point on the ground to use as the
ground reference point
• Inside of IWS_SensrbFramePlugin::updateTrajCovariance() and IWS_SensrbFramePlugin::setIoFromSensrb() changed how the covariance matrix is filled out from an O(n^3) algorithm to O(n log n) algorithm• It used to iterate over every possible cross covariance item then loop over the module 14 to see if it’s present
• Change to just iterate over module 14 values actually present and put them into the correct location• Can only be fixed inside of the model
GXP360º Professional Exchange and WorkshopMarch 18-22, 2019 | San Diego, California
Video CSM – Experiment 3SENSRB state update directly
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• Instead of processing the parsed SENSRB into an NVList to populate the sensor model variables, take the parsed SENSRB and assign it directly into the sensor model member variables
• Had to add friend to IWS_VdeoFrameTraj and IWS_CalibratedIO
• This does offer some savings over Experiment 2
GXP360º Professional Exchange and WorkshopMarch 18-22, 2019 | San Diego, California
After profiling the code, most of the time was used to get the state string from the CSM model. This often isn't needed, so we changed the CSM model wrapper to only get the state string if the calling code needs it. Here are the new timings. (3ms is fast enough for 30Hz video).
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Model Time (ms) Previous Time (ms)Frame Advance <2ms <2ms
SENSRB recreate every time. <5ms <13ms
SENSRB state w/NVList & recreate <5ms <13ms
SENSRB state update directly <3ms <9ms
SENSRB struct subset <1ms <6ms
GXP360º Professional Exchange and WorkshopMarch 18-22, 2019 | San Diego, California
