{"id":242,"date":"2021-11-15T19:23:38","date_gmt":"2021-11-15T19:23:38","guid":{"rendered":"https:\/\/labs.ri.cmu.edu\/moonranger\/?p=242"},"modified":"2021-12-07T13:24:41","modified_gmt":"2021-12-07T13:24:41","slug":"perception-testbed-and-lighting","status":"publish","type":"post","link":"https:\/\/labs.ri.cmu.edu\/moonranger\/perception-testbed-and-lighting\/","title":{"rendered":"Perception Testbed and Lighting"},"content":{"rendered":"\t\t
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Figure 1: Testbed for evaluating MoonRanger\u2019s perception. Material, color and lighting are lunar-like. The line of rectangular blocks are at known locations for verifying that the terrain geometry created by the robot matches the geometry of the scene. <\/p>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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LUNAR POLAR LIGHT<\/p>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Figure 2: The wavelength distribution and intensity of light that reaches the Moon\u2019s surface (orange envelope) exceeds the less intense and complete color spectrum that reaches the Earth\u2019s surface (colorized envelope).<\/figcaption><\/figure>

It is challenging to illuminate a perception testbed with lighting that emulates sunlight that the rover will experience on the pole of the Moon. This is not nearly as simple as going outdoors on Earth. The Moon\u2019s lighting is more intense, less-diffuse, and lower in the sky than what we experience on Earth. The light reaching the Moon is 1350 watts\/meters2. By comparison, the light reaching the Earth is only 1120 watts\/meters2. The Moon\u2019s light is direct from the sun and has full infrared, but the Earth\u2019s atmosphere reduces infrared (see the orange envelope of lunar sunlight versus the colorized envelope of Earth\u2019s sunlight that appears in Figure 2). The atmosphere also bounces the light as if coming from all directions, not just straight from the sun. For this reason Earth shadows are not as dark or sharp as Moon shadows. The sun never rises more than a few degrees at the Moon\u2019s pole, so when at the pole the sun sits on the Moon\u2019s horizon, and incoming light is nearly tangential.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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EMULATING LUNAR POLAR LIGHT<\/p>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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Figure 3: Arrimax cinematic day light (right) casting 18 kilowatts of lunar-like illumination onto MoonRanger\u2019s perception testbed.<\/figcaption><\/figure>\n\nSun power and sun spectrum as experienced at the lunar pole is needed for testing MoonRanger\u2019s cameras, lasers and perception. A special light for movie-making does just that. This uses a Hydrargyrum Medium-Arc Iodide (HMI) bulb. An intense 18 kilowatts of power impinge on the scene. Blackout curtains prevented light from reflecting diffusely back onto the terrain.\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"

Figure 1: Testbed for evaluating MoonRanger\u2019s perception. Material, color and lighting are lunar-like. The line of rectangular blocks are at known locations for verifying that the terrain geometry created by the robot matches the geometry of the scene. LUNAR POLAR LIGHT It is challenging to illuminate a perception testbed with lighting that emulates sunlight that … Continued<\/a><\/p>\n","protected":false},"author":1,"featured_media":244,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[25],"tags":[],"class_list":["post-242","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-mechanical"],"yoast_head":"\nPerception Testbed and Lighting - MoonRanger<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/labs.ri.cmu.edu\/moonranger\/perception-testbed-and-lighting\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Perception Testbed and Lighting - MoonRanger\" \/>\n<meta property=\"og:description\" content=\"Figure 1: Testbed for evaluating MoonRanger\u2019s perception. 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