Quantifying Uncertainties in Exploration using Stereophotoclinometry with Topography (QUEST) (QUEST)

Image-based surface reconstruction and characterization is crucial for missions to small celestial bodies, as it informs mission planning, navigation, and scientific analysis. However, current state-of-the-practice methods, such as stereophotoclinometry (SPC), rely heavily on human-in-the-loop verification and high-fidelity information. The proposed work, called Quantifying Uncertainties in Exploration using Stereophotoclinometry with Topography (QUEST), extends a novel framework, called Photoclinometry-from-Motion (PhoMo), that incorporates photoclinometry techniques into a keypoint-based structure-from-motion system. PhoMo estimates the surface normal and albedo at detected landmarks to improve surface and shape characterization of small celestial bodies from in-situ imagery. QUEST significantly advances the PhoMo framework by computing the uncertainties associated with the PhoMo-generated map and using these results to compute optimal terrain relative navigation (TRN) estimates. In particular, both analytical- and numerical-based covariance expressions will be derived using an Unscented Kalman Filter (UKF) to quantify the errors in the QUEST-derived TRN estimates. QUEST will compare the use of a UKF with the factor graph-based smoothing approach that already exists within the PhoMo framework. The UKF is expected to provide significant advantages to 1) assess the expected TRN performance, which can be used for typical error-budget assessments, and 2) increase the existing performance. Another aspect that will be studied is the computational effort required to obtain real-time TRN solutions. Results will be computed using data from NASA’s Planetary Data System.

NASA has several current and past missions related to asteroids, such as OSIRIS-REx, DART, Lucy, NEA Scout, Psyche and Hera. EarthSky1 points to six reasons to study asteroids: 1) they can serve as pit-stops and provide resources for future space exploration, 2) they be hazards to Earth, 3) they may have delivered the elements of life to Earth, 4) they were the building blocks of planets, 5) they help astronomers trace solar system evolution, and 6) they help astronomers understand processes in an evolving solar system. The success of OSIRIS-REx underscores an immediate NASA market need for precise navigation. The main technology proposed in this work is related to visual navigation using digital terrain maps. One sector that can use the proposed technology is the military where GPS-less navigation is required in rocky natural terrains. One World Terrain is a Joint Staff-funded project designed to assist the DoD in creating the most realistic, accurate and informative representations of the physical and non-physical landscape. The military is actively developing and testing autonomous ground vehicles (AGVs) capable of navigating rocky and challenging terrains. These will clearly need to operate without the use of GPS because of active jamming that often occurs in military zones. The new technology can enhance the military’s GPS-less needs in rocky terrains. Several companies are also developing terrain-based navigation systems for AGVs. The new technology can be extremely useful to increase these companies’ capabilities by broadening their marketplace into rocky natural terrains that can be used for many purposes, such as mining.

This is a mature technology (TRL 7+) — the realistic path in is usually NASA's Technology Transfer Program: licensing an existing NASA patent, or a Space Act Agreement to use NASA facilities/expertise directly. NASA also runs a startup licensing program with no upfront fee for companies formed to commercialize a specific NASA technology.

None of these are guaranteed paths for this specific project — TechPort itself doesn't have an "apply" button. Reaching out to the contact(s) above with a specific question is usually the fastest way to find out what's actually open.