1. Spaceborne Underwater Imaging 1 David J. Diner (JPL/CALTECH) John Martonchik (JPL/CALTECH) Yoav Y. Schechner (Technion, Israel) c Copyright 2011. All rights reserved.

2. 2 Importance : Coastal Areas * Most human activity: safety, archaeology, recreation * Biological activity * Aerosol retrieval * Hydrosol retrieval Schechner, Diner, Martonchik NASA

3. bottom 3 Schechner, Diner, Martonchik

4. bottom l obj UW 4 Schechner, Diner, Martonchik

5. bottom 5 Schechner, Diner, Martonchik l obj UW 0 1 z exp z 

6. bottom 6 Schechner, Diner, Martonchik l obj UW 0 1 z exp z    atmos

7. bottom l obj UW 7 Schechner, Diner, Martonchik 0 1 z z exp  cos -1 exp   atmos cos -1

8. 0 1 z z exp  cos -1 0 1 z z exp  cos -1 z exp  cos -1 z exp  cos -1 t water = 8 Schechner, Diner, Martonchik

9. bottom l obj UW 9 Schechner, Diner, Martonchik

10. 10 Schechner, Diner, Martonchik

11. z exp  cos -1 z exp  cos -1 t water = t = 1- 11 Schechner, Diner, Martonchik

12. 12 z Sun beam water atmosphere bottom l obj UW t water = 1- i Schechner, Diner, Martonchik

13. 13 z Sun beam water atmosphere a l sky bottom i Schechner, Diner, Martonchik

14. 14 z Sun beam water atmosphere a b bottom l obj UW i l sky Schechner, Diner, Martonchik

15. 15 Schechner, Diner, Martonchik l obj UW z depth map Simulation

16. 16 Schechner, Diner, Martonchik Simulation simulated view z depth map

17. 17 atmosphere a bottom i deep l sky Schechner, Diner, Martonchik

18. 18 a i deep i t water = 1- a l obj UW l sky Schechner, Diner, Martonchik

19. 19 i deep i l obj UW - t water = 1- a a l sky Schechner, Diner, Martonchik

20. 20 l obj UW i deep i(x)i(x) - z Schechner, Diner, Martonchik z (x)z (x) l obj UW ( x ) -  cos 1 + 1 e t surface e   atmos cos

21. Dependence on 21 l obj UW i deep i(x)i(x) - l obj UW (x)(x) z Schechner, Diner, Martonchik  atmos z( x )  Two unknowns per pixel x * Object radiance (descattered) * Depth map

22. Dependence on 22 i deep i(x)i(x) - l obj UW (x)(x)  atmos z(x)z(x)  Multispectral Remote Bathymetry No object descattering Infer depth map z(x) from spectral ratios Impressive Vary with unknown object, media Lyzenga’78, Philpot’89, Stumpf & Holderied’03

23. 23 l obj UW i deep i(x)i(x) - l obj UW (x)(x) z Schechner, Diner, Martonchik  atmos z(x)z(x)  Dependence on is unknown

24. water atmosphere bottom 24 Schechner, Diner, Martonchik z (x)z (x) l obj UW ( x ) -  cos 1 + 1 e e   atmos cos

25. orbit N F N F water atmosphere bottom 25 Schechner, Diner, Martonchik Lightfield Cam

26. Multi-angle Imaging SpectroRadiometer (MISR) Res: 275 m Bands: 446, 558, 672, 866 nm Polar orbit on NASA’s Terra Dec’99 26 http://www-misr.jpl.nasa.gov/

27. 27 Schechner, Diner, Martonchik Simulation simulated view at nadir z depth map

28. 28 Schechner, Diner, Martonchik Simulation simulated view z depth map

29. 29 Schechner, Diner, Martonchik Simulation z depth map l obj N estimated

30. 30 Schechner, Diner, Martonchik z 5 1015 20 35 10 20 30 z true depth estimated depth [meters]

31. 31 log t surface [ i(x ) – i ] deep sounding 1 + 1 cos z (x ) sounding  slope Schechner, Diner, Martonchik assume the same? (x ) sounding Unknown l obj UW

32. Sparse soundings z (x ) sounding Known assumed unpolarized (x ) sounding Unknown l obj UW 32

33. T surface t atmosphere 33 deep i(x) – i = l obj UW ( x ) - z (x)z (x) 1 + 1 cos e  u q T surface u q - - pol independent of x Schechner, Diner, Martonchik

34. 8 Spectral bands, three of which are polarimetric Multiangle SpectroPolarimetric Imager (MSPI) Airborne camera (AirMSPI) In nose of NASA ER-2 high-altitude aircraft 34

35. 35 Spaceborne Underwater Imaging Yoav Schechner, David Diner, John Martonchik