The NASA Ames Stereo Pipeline is a suite of automated geodesy & stereogrammetry tools designed for processing planetary imagery captured from orbiting and landed robotic explorers on other planets.
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1. Stereo Pipeline

The NASA Ames Stereo Pipeline (ASP) is a suite of free and open source
automated geodesy and stereogrammetry tools designed for processing
stereo imagery captured from satellites (around Earth and other
planets), robotic rovers, aerial cameras, and historical imagery, with
and without accurate camera pose information. It produces cartographic
products, including digital elevation models (DEMs), ortho-projected
imagery, 3D models, and bundle-adjusted networks of cameras. ASP's
data products are suitable for science analysis, mission planning, and
public outreach.

Please install USGS ISIS version 3.5.2 if you would like to process
NASA non-terrestrial imagery. Users wishing to process Digital Globe,
GeoEye, or perspective imagery do not need to download anything else.

2. Download

ASP releases for Linux and OSX can be downloaded at:

The latest development builds (see the NEWS file for the most recent
additions) can be found at:

3. LICENSE (see COPYING for the full text)

A. Copyright and License Summary

Copyright (c) 2009-2018, United States Government as represented by
the Administrator of the National Aeronautics and Space
Administration. All rights reserved.

ASP is licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License. You
may obtain a copy of the License at

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
implied. See the License for the specific language governing
permissions and limitations under the License.

B. Third-Party Libraries

This distribution may include some bundled third-party software as a
convenience to the user. This software, located in the "thirdparty/"
directory of the source code release, is not covered by the
above-mentioned distribution agreement or copyright. Binary releases
distribute third party software in both the "bin" and "lib"
directories. See the included documentation for detailed copyright and
license information for any third-party software or check the
THIRDPARTYLICENSES file. In addition, various pieces of ASP depend on
additional third-party libraries that the user is expected to have


The primary source of documentation is the Stereo Pipeline Book. The
binary distribution contains the book, named "asp_book.pdf", and the
source distribution contains the LaTeX source of the book in the
docs/book subdirectory.

The book includes a gentle introduction to using the Stereo Pipeline,
as well as documentation for each of its tools. A copy of this
document in PDF format is also available from wherever you obtained
this package.


A. Mailing List

All bugs, feature requests, and general discussion should be posted
on the ASP support forum:!forum/ames-stereo-pipeline-support

To contact the lead developers and project manager directly, send an
email to:

B. Credits

ASP was developed within the Autonomous Systems and Robotics area of
the Intelligent Systems Division at NASA's Ames Research Center. It
leverages the Intelligent Robotics Group's (IRG) extensive experience
developing surface reconstruction and tools for planetary exploration,
e.g., the Mars Pathfinder and Mars Exploration Rover missions, and
rover autonomy. It has also been developed in collaboration with the
Adaptive Control and Evolvable Systems (ACES) group, and draws on
their experience developing computer vision techniques for autonomous
vehicle control systems.

See the AUTHORS file for a complete list of developers.

Complete details for how to reference ASP in your published works can be
found in the asp_book.pdf file, and in addition to the recommended references
there, in order to help you better cite the specific version of ASP that you 
are using in a work, we have started using Zenodo to create digital object 
identifiers (DOIs) for each ASP release.  Every new release of ASP will have 
its own unique DOI, which can be found at this URL: