Yu Tao

Yu Tao
University College London | UCL · Department of Space and Climate Physics

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60
Publications
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304
Citations

Publications

Publications (60)
Chapter
In this chapter, we describe the PRoViDE (Planetary Robotics Vision Data Exploitation) framework that supports an entire workflow to generate 3D geological models of planetary surfaces from separate or fused rover and orbiter imagery, which are used for an efficient and reliable geologic analysis. PRoViDE provides a comprehensive solution for plane...
Article
Full-text available
We propose using coupled deep learning based super-resolution restoration (SRR) and single-image digital terrain model (DTM) estimation (SDE) methods to produce subpixel-scale topography from single-view ESA Trace Gas Orbiter Colour and Stereo Surface Imaging System (CaSSIS) and NASA Mars Reconnaissance Orbiter High Resolution Imaging Science Exper...
Data
Local digital terrain model (DTM) and orthorectified image (ORI) mosaics over Sakarya Vallis, west of Aeolis Mons in Gale crater, Mars. The two constituent DTMs were processed using the CASP-GO suite described in Tao et al. (2018); the ORIs were processed using Ames Stereo Pipeline. The DTMs were then co-registered to an HRSC DTM mosaic (Persaud et...
Article
Full-text available
The High-Resolution Imaging Science Experiment (HiRISE) onboard the Mars Reconnaissance Orbiter provides remotely sensed imagery at the highest spatial resolution at 25–50 cm/pixel of the surface of Mars. However, due to the spatial resolution being so high, the total area covered by HiRISE targeted stereo acquisitions is very limited. This results...
Article
Full-text available
We demonstrate an end-to-end application of the in-house deep learning-based surface modelling system, called MADNet, to produce three large area 3D mapping products from single images taken from the ESA Mars Express’s High Resolution Stereo Camera (HRSC), the NASA Mars Reconnaissance Orbiter’s Context Camera (CTX), and the High Resolution Imaging...
Article
Full-text available
The lack of adequate stereo coverage and where available, lengthy processing time, various artefacts, and unsatisfactory quality and complexity of automating the selection of the best set of processing parameters, have long been big barriers for large-area planetary 3D mapping. In this paper, we propose a deep learning-based solution, called MADNet...
Article
Full-text available
Higher spatial resolution imaging data are considered desirable in many Earth observation applications. In this work, we propose and demonstrate the TARSGAN (learning Terrestrial image deblurring using Adaptive weighted dense Residual Super-resolution Generative Adversarial Network) system for Super-resolution Restoration (SRR) of 10 m/pixel Sentin...
Article
Full-text available
Automated large-scale retrieval of stereo photogrammetric DTMs of Mars fall into three categories: use of COTS software such as BAE-SOCET®; private software such as the DLR-VICAR software suite and open source solutions such as the NASA Ames Stereo Pipeline (ASP). We describe here a novel open source system developed on the back of ASP known as CAS...
Article
Full-text available
We introduce a robust and light-weight multi-image super-resolution restoration (SRR) method and processing system, called OpTiGAN, using a combination of a multi-image maximum a posteriori approach and a deep learning approach. We show the advantages of using a combined two-stage SRR processing scheme for significantly reducing inference artefacts...
Article
Full-text available
We introduce a novel ultra-high-resolution Digital Terrain Model (DTM) processing system using a combination of photogrammetric 3D reconstruction, image co-registration, image super-resolution restoration, shape-from-shading DTM refinement, and 3D co-alignment methods. Technical details of the method are described, and results are demonstrated usin...
Article
Full-text available
The ExoMars Trace Gas Orbiter (TGO)’s Colour and Stereo Surface Imaging System (CaSSIS) provides multi-spectral optical imagery at 4–5 m/pixel spatial resolution. Improving the spatial resolution of CaSSIS images would allow greater amounts of scientific information to be extracted. In this work, we propose a novel Multi-scale Adaptive weighted Res...
Article
Full-text available
A seamless mosaic has been constructed including a 3D terrain model at 50 m grid-spacing and a corresponding terrain-corrected orthoimage at 12.5 m using a novel approach applied to ESA Mars Express High Resolution Stereo Camera orbital (HRSC) images of Mars. This method consists of blending and harmonising 3D models and normalising reflectance to...
Article
Full-text available
Abstract The Central Elysium Planitia (CEP) is one of the youngest geological units on Mars and displays evidence of volcanic and fluvial activities on the surface. The origin of the CEP material has long been debated with a range of hypotheses from purely fluvial to solely volcanic origins. This study presents a comprehensive investigation of SHAl...
Conference Paper
We developed a novel SRR system, called Multi-Angle Gotcha image restoration with Generative Adversarial Network (MAGiGAN), to produce resolution enhancement of 3-5 times from multi-pass EO images. The MAGiGAN SRR system uses a combination of photogrammetric and machine vision approaches including image segmentation and shadow labelling, feature ma...
Conference Paper
Precise high-resolution Digital Elevation Models (DEMs) are essential for creation of terrain relief and associated terrain hazard area maps, urban land development, smart cities and in other applications. The 3D modelling system entitled the UCL Co-registration Ames Stereo Pipeline (ASP) Gotcha Optimised (CASP-GO) was demonstrated on stereo data o...
Conference Paper
Full-text available
A combined HiRISE, CTX, and HRSC digital terrain model (DTM) of Gale Crater was processed using CASP-GO and the KM09-VICAR system. "Rover eye" Navcam views over the MSL rover traverses have been visualized in a 3D environment. These simulated views demonstrate a useful combination of different resolution imagery for rover mission planning, localiza...
Article
Full-text available
High spatial resolution Earth observation imagery is considered desirable for many scientific and commercial applications. Given repeat multi-angle imagery, an imaging instrument with a specified spatial resolution, we can use image processing and deep learning techniques to enhance the spatial resolution. In this paper, we introduce the University...
Article
The 2016 Mars Utah Rover Field Investigation (MURFI) was a Mars rover field trial run by the UK Space Agency in association with the Canadian Space Agency's 2015/2016 Mars Sample Return Analogue Deployment mission. MURFI had over 50 participants from 15 different institutions around the UK and abroad. The objectives of MURFI were to develop experie...
Conference Paper
In this paper we introduce the Mars planet-wide 3D surface modelling work performed within the EU FP-7 iMars project which completed last year. In this report, we describe a fully automated multi-resolution DTM processing chain developed by the Imaging Group at UCL-MSSL, called CASP-GO based upon the heritage NASA Ames Stereo Pipeline (ASP) and the...
Conference Paper
Full-text available
High spatial resolution imaging data is always considered desirable in the field of remote sensing, particularly Earth observation. However, given the physical constraints of the imaging instruments themselves, one needs to be able to trade-off spatial resolution against launch mass as well as telecommunications bandwidth for transmitting data back...
Article
Web-based planetary image dissemination platforms usually show outline coverage of available data and offer querying for metadata as well as preview and download. While the usual form of presenting multiorbit data sets is to merge the data into a larger mosaic, for change detection purposes it is essential to maintain the individual images as an im...
Conference Paper
Full-text available
25-cm HiRISE orthorectified images (ORI) and 5-12.5-cm HiRISE super-resolution restored (SRR) products of the Mars Exploration Rover (MER) traverses have been combined with 25-cm shape-from-shading DTMs and visualised in the NASA DERT platform. The SRR and standard resolution ORI images have been compared to evaluate the refinement achieved by supe...
Article
Full-text available
Panoramic camera systems on robots exploring the surface of Mars are used to collect images of terrain and rock outcrops which they encounter along their traverse. Image mosaics from these cameras are essential in mapping the surface geology and selecting locations for analysis by other instruments on the rover's payload. 2-D images do not truly po...
Article
The performance of binocular stereo reconstruction is highly dependent on the quality of the stereo matching result. In order to evaluate the performance of different stereo matchers, several quality metrics have been developed based on quantifying error statistics with respect to a set of independent measurements usually referred to as ground trut...
Article
Digital Terrain Model (DTM) creation is essential to improving our understanding of the formation processes of the Martian surface. Although there have been previous demonstrations of open-source or commercial planetary 3D reconstruction software, planetary scientists are still struggling with creating good quality DTMs that meet their science need...
Article
Full-text available
The 2003 Beagle 2 Mars lander has been identified in Isidis Planitia at 90.43° E, 11.53° N, close to the predicted target of 90.50° E, 11.53° N. Beagle 2 was an exobiology lander designed to look for isotopic and compositional signs of life on Mars, as part of the European Space Agency Mars Express (MEX) mission. The 2004 recalculation of the origi...
Article
Full-text available
There has been a revolution in 3D surface imaging of Mars over the last 12 years with systematic stereoscopy from HRSC. Digital Terrain Models (DTMs) and OrthoRectified Images (ORIs) have been produced for almost 50% of the Martian surface. DLR, together with the HRSC science team, produced 3D HRSC mosaic products for large regions comprising aroun...
Conference Paper
Full-text available
There has been a revolution in 3D surface imaging of Mars over the last 12 years with systematic stereoscopy from HRSC and the production for almost 50% of the Martian surface of DTMs and ORIs. The iMars project has been exploiting this unique set of 3D products as a basemap to co-register NASA imagery going back to the 1970s. DLR have produced 3D...
Conference Paper
Higher spatial resolution imaging data is always desirable to the international community of planetary scientists interested in improving understanding of surface formation processes. We have previously developed a novel Super-resolution restoration (SRR) technique (Tao & Muller, 2016) using Gotcha sub-pixel matching, orthorectification, and segmen...
Conference Paper
Understanding planetary atmosphere-surface and extra-terrestrial-surface formation processes within our Solar System is one of the fundamental goals of planetary science research. There has been a revolution in planetary surface observations over the last 15 years, especially in 3D imaging of surface shape. This has led to the ability to be able to...
Conference Paper
Understanding planetary atmosphere-surface and extra-terrestrial-surface formation processes within our Solar System is one of the fundamental goals of planetary science research. There has been a revolution in planetary surface observations over the last 15 years, especially in 3D imaging of surface shape. This has led to the ability to be able to...
Article
Understanding planetary atmosphere-surface exchange and extra-terrestrial-surface formation processes within our Solar System is one of the fundamental goals of planetary science research. There has been a revolution in planetary surface observations over the last 15 years, especially in 3D imaging of surface shape. This has led to the ability to o...
Article
Full-text available
Higher spatial resolution imaging data is always desirable to the international community of planetary scientists interested in improving understanding of surface formation processes. We have previously developed a novel Super-resolution restoration (SRR) technique (Tao & Muller, 2016) using Gotcha sub-pixel matching, orthorectification, and segmen...
Article
Full-text available
Higher spatial resolution imaging data is always desirable to the international community of planetary scientists interested in improving understanding of surface formation processes. We have previously developed a novel Super-resolution restoration (SRR) technique (Tao & Muller, 2016) using Gotcha sub-pixel matching, orthorectification, and segmen...
Article
Full-text available
Understanding planetary atmosphere-surface exchange and extra-terrestrial-surface formation processes within our Solar System is one of the fundamental goals of planetary science research. There has been a revolution in planetary surface observations over the last 15 years, especially in 3D imaging of surface shape. This has led to the ability to o...
Article
Within the EU FP-7 iMars project, a fully automated multi-resolution DTM processing chain, called Co-registration ASP-Gotcha Optimised (CASP-GO) has been developed, based on the open source NASA Ames Stereo Pipeline (ASP). CASP-GO includes tiepoint based multi-resolution image co-registration and an adaptive least squares correlation-based sub-pixe...
Article
Full-text available
Within the EU FP-7 iMars project, a fully automated multi-resolution DTM processing chain, called Co-registration ASP-Gotcha Optimised (CASP-GO) has been developed, based on the open source NASA Ames Stereo Pipeline (ASP). CASP-GO includes tiepoint based multi-resolution image co-registration and an adaptive least squares correlation-based sub-pixe...
Article
Full-text available
We present a wide range of research results in the area of orbit-to-orbit and orbit-to-ground data fusion, achieved within the EU-FP7 PRoVisG project and EU-FP7 PRoViDE project. We focus on examples from three Mars rover missions, i.e. MER-A/B and MSL, to provide examples of a new fully automated offline method for rover localisation. We start by i...
Conference Paper
Full-text available
We describe a high-accuracy inspection system designed to automatically detect cracks in "as-cast" steel slabs. Real-time slab inspection requires instrumentation capable of withstanding high temperatures above the steel surface as well as coping with the dirty and dusty environment present in a steel mill. Crack detection is also challenging due t...
Article
Full-text available
Higher resolution imaging data of planetary surfaces is considered desirable by the international community of planetary scientists interested in improving understanding of surface formation processes. However, given various physical constraints from the imaging instruments through to limited bandwidth of transmission one needs to trade-off spatial...
Article
Full-text available
We apply the capabilities of the geospatial environment PRoGIS 2.0 and the real time rendering viewer PRo3D to geological analysis of NASA's Mars Exploration Rover-B (MER-B Opportunity rover) and Mars Science Laboratory (MSL Curiosity rover) datasets. Short baseline and serendipitous long baseline stereo Pancam rover imagery are used to create 3D p...
Conference Paper
Full-text available
The FP7-SPACE PRoViDE (Planetary Robotics Vision Data Exploitation) project has been developed to exploit the wealth of orbital, probe and rover derived planetary surface imagery data taken from the dozens of missions which have successfully travelled to other planetary bodies in the Solar System. PRoGIS 2.0 is the spatial entry point into which th...
Conference Paper
Full-text available
The EU FP7 project PRoViDE (Planetary Robotics Vision Data Exploitation) is processing a major portion of the imaging data gathered so far from planetary surface missions (of Mars and the Moon) into unique databases, bringing them into a 3D spatial context and providing access to a complete set of 3D vision products. A different approach is needed...
Conference Paper
We assess several algorithms for generating digital terrain models (DTM) of Mars using high-resolution stereoscopic images produced by the High Resolution Imaging Science Experiment (HiRISE) camera and Context Camera (CTX) onboard the NASA Mars Reconnaissance Orbiter (MRO) spacecraft. One of the algorithms was developed jointly by University of Seo...
Article
Full-text available
Mars.eu) have and are developing tools for Mars ex-ploration in preparation for the ESA-Roscosmos Exo-Mars Trace Gas Orbiter 2016 and rover mission in 2018. There are several common themes running throughout these developments including: a) the neces-sity to try to automate as much of the image processing as feasible so that future missions to Mars...
Conference Paper
Full-text available
The international planetary science community has launched, landed and operated dozens of human and robotic missions to the planets and the Moon. They have collected various surface imagery that has only been partially utilized for further scientific purposes. The FP7 project PRoViDE (Planetary Robotics Vision Data Exploitation) is assembling a maj...
Article
Full-text available
This paper presents a wide range of research and processing results in the area of multi-resolution orbital data co-registration, multiresolution ground 3D reconstruction, and orbit-to-ground data fusion, achieved within the EU-FP7 PRoVisG and PRoViDE project. We focus on three NASA rover missions, MER-A, MER-B, and MSL, to provide examples of auto...
Article
The FP7-SPACE project PRoViDE will assemble a major portion of the imaging data gathered so far from vehicles and probes on planetary surfaces into a unique database, bringing them into a common planetary geospatial context and providing access to a complete set of 3D vision products. Processing and GIS web access is complemented by a multi-resolut...
Article
The ESA ExoMars 2018 rover is planned to perform autonomous science target selection (ASTS) using the approaches described in [1]. However, the approaches shown to date have focused on coarse features rather than the identification of specific geomorphological units. These higher-level "geoobjects" can later be employed to perform intelligent reaso...
Article
We demonstrate here a layer and rock detection toolkit and how it may be used to collect and analyze key marker information about a particular scene from MSL imagery.

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