Finished Editing Intro.

docs/book/asp_book.tex

@@ -4,7 +4,8 @@
 % \usepackage{moreverb}
 % \usepackage{float}
 \usepackage{subfigure}
-\usepackage{graphicx, amsfonts, psfrag, fancyhdr, layout, appendix, subfigure}
+\usepackage{graphicx}
+\usepackage{amsfonts, psfrag, fancyhdr, layout, appendix, subfigure}
 \usepackage{wrapfig}
 \usepackage{color}
 \definecolor{violet}{rgb}{0.5,0,1}
@@ -102,7 +103,12 @@
 \acro{NASA}{National Aeronautics and Space Administration}
 \acro{DEM}{digital elevation model}
 \acro{MGS}{Mars Global Surveyor}
+\acro{USGS}{United States Geological Survey}
 \acro{ISIS}{Integrated Software for Imagers and Spectrometers}
+\acro{MER}{Mars Exploration Rover}
+\acro{MRO}{Mars Reconnaissance Orbiter}
+\acro{LRO}{Lunar Reconnaissance Orbiter}
+\acro{MOC}{Mars Orbiter Camera}
 \end{acronym}
 
 

docs/book/bibliography.bib

@@ -262,7 +262,7 @@ @INPROCEEDINGS{1997LPI....28..387G
 @unpublished{
 	ISIS_website,
 	author = {U.S. Geological Survey, Flagstaff, AZ},
-	title = {Integrated Software for Imagers and Spectrometers (ISIS)},
+	title = {Integrated Software for Imagers and Spectrometers ({ISIS})},
 	url = {http://isis.astrogeology.usgs.gov/},
         year= {2009}
 	}
@@ -599,4 +599,4 @@ @inproceedings{broxton:isvc09
    author={ Michael Broxton and Ara V. Nefian and Zachary Moratto and Taemin Kim and Michael Lundy and Aleksandr V. Segal },
    booktitle = {{to appear in the Proceedings of the 5th International Symposium on Visual Computing}},
    year = "2009"
-}
+}

docs/book/introduction.tex

@@ -1,40 +1,40 @@
 \chapter{Introduction}
 
-The NASA Ames Stereo Pipeline (ASP) is a suite of automated geodesy \&
+\acresetall
+
+The \acsu{NASA} \ac{ASP} is a suite of automated geodesy and
 stereogrammetry tools designed for processing planetary imagery
 captured from orbiting and landed robotic explorers on other planets.
-It was designed to process stereo imagery captured by NASA spacecraft
-and produce cartographic products including digital elevation models
-(DEMs), ortho-projected imagery, and 3D models.  These data products
-are suitable for science analysis, mission planning, and public
-outreach.
+It was designed to process stereo imagery captured by \ac{NASA}
+spacecraft and produce cartographic products including \acp{DEM},
+ortho-projected imagery, and 3D models.  These data products are
+suitable for science analysis, mission planning, and public outreach.
 
 \begin{figure}[tb] 
    \centering
    \includegraphics[width=6.5in]{images/introduction/p19view2.png} 
-   \caption{This 3D model was generated from Mars Orbiter Camra image
-     pair M01-00115 and E02-01461 (34.66N, 141.29E).  The complete
+   \caption{This 3D model was generated from \ac{MOC} image
+     pair M01/00115 and E02/01461 (34.66N, 141.29E).  The complete
      stereo reconstruction process takes approximately five minutes on
-     a 3.0GHz workstation for input images of this size (1024x8064
-     pixels).  This model, shown here without vertical elevation
-     exaggeration, is roughly 2-km wide in the cross-track
+     a 3.0~GHz workstation for input images of this size ($1024 \times 8064$
+     pixels).  This model, shown here without vertical 
+     exaggeration, is roughly 2~km wide in the cross-track
      dimension. }
    \label{fig:p19}
 \end{figure}
 
 \section{Background}
 
-The Intelligent Robotics Group (IRG) at the NASA Ames Research Center
-has been developing 3D surface reconstruction and visualization
-capabilities for planetary exploration for more than a decade.  First
-demonstrated during the Mars Pathfinder Mission, the IRG has delivered
-tools providing these capabilities to the science operations teams of
-the Mars Polar Lander mission, the Mars Exploration Rover mission, the
-Mars Reconaissance Orbiter mission, and most recently the Lunar
-Reconaissance Orbiter Mission. A critical component technology
-enabling this work is the Ames Stereo Pipeline.  The Stereo Pipeline
-generates high quality, dense, texture-mapped 3D surface models from
-stereo image pairs.
+The \ac{IRG} at the NASA Ames Research Center has been developing
+3D surface reconstruction and visualization capabilities for planetary
+exploration for more than a decade.  First demonstrated during the
+Mars Pathfinder Mission, the \ac{IRG} has delivered tools providing
+these capabilities to the science operations teams of the Mars Polar
+Lander (MPL) mission, the \ac{MER} mission, the \ac{MRO} mission,
+and most recently the \ac{LRO} mission. A critical component
+technology enabling this work is the \acf{ASP}.  The Stereo Pipeline
+generates high quality, dense, texture-mapped 3D surface models
+from stereo image pairs.
 
 Although initially developed for ground control and scientific
 visualization applications, the Stereo Pipeline has evolved in recent
@@ -44,42 +44,43 @@ \section{Background}
 topography is often derived from stereo pairs captured from orbit.
 Orbital mapping satellites are sent as precursors to planetary bodies
 in advance of landers and rovers.  They return a wealth of imagery and
-other data that helps mission planners and scientist identify areas
+other data that helps mission planners and scientists identify areas
 worthy of more detailed study. Topographic information often plays a
 central role in this planning and analysis process.
 
-Our recent development of the Stereo Pipeline coincides with a period
-of time when NASA orbital mapping missions are returning orders of
-magnitude more data than ever before.  Data volumes from the Mars and
-Lunar Reconaissance Orbiter missions now mesaure in the tens of
-Terabytes.  There is growing consensus that Existing processing
-techniques, which are still extremely human intensive and expensive,
-are no longer adequate to address the data processing needs of NASA
-and the Planetary Science community.  To pick an example of particular
-relevance, the HiRISE camera website lists 1353 stereo pairs at the
-time of this writing \cite{HiRISE_website}.  Of these, only a few tens
-of stereo pairs have been processed to date; mostly on human-operated,
-high-end photogrammetric workstations.  It is clear that much more
-value could be extracted from this valuable raw data if a more
-streamline, efficient process could be developed.
+Our recent development of the Stereo Pipeline coincides with a
+period of time when \ac{NASA} orbital mapping missions are returning
+orders of magnitude more data than ever before.  Data volumes from
+the Mars and Lunar Reconnaissance Orbiter missions now measure in
+the tens of Terabytes.  There is growing consensus that existing
+processing techniques, which are still extremely human intensive
+and expensive, are no longer adequate to address the data processing
+needs of \ac{NASA} and the Planetary Science community.  To pick
+an example of particular relevance, the HiRISE camera Web site lists
+1353 stereo pairs at the time of this writing \citep{HiRISE_website}.
+Of these, only a few tens of stereo pairs have been processed to
+date; mostly on human-operated, high-end photogrammetric workstations.
+It is clear that much more value could be extracted from this
+valuable raw data if a more streamlined, efficient process could be
+developed.
 
 The Stereo Pipeline was designed to address this very need.  By
 applying recent advances in robotics and computer vision, we have
 created an {\em automated} process that is capable of generating high
-quality DEMs with minimal human intervention.  Users of the Stereo
+quality \acp{DEM} with minimal human intervention.  Users of the Stereo
 Pipeline can expect to spend some time picking a handful of settings
 when they first start processing a new type of imagery, but once this
 is done the Stereo Pipeline can be used to process tens, hundreds, or
 even thousands of stereo pairs without further adjustment.  With the
 release of this software, we hope to encourage the adoption of this
-toolchain at institutions that run and support these remote sensing
+tool chain at institutions that run and support these remote sensing
 missions.  Over time, we hope to see this tool incorporated into
 ground data processing systems alongside other automated image
 processing pipelines.  As this tool continues to mature, we believe
 that it will be capable of producing digital elevation models of
 exceptional quality without any human intervention.
 
-\section{Human vs. Computer : When to Choose Automation}
+\section{Human vs. Computer: When to Choose Automation}
 
 When is it appropriate to choose automated stereo mapping over the use
 of a conventional, human-operated photogrammetric workstation?  This
@@ -91,23 +92,23 @@ \section{Human vs. Computer : When to Choose Automation}
 where human lives or considerable capital resources are at risk.  In
 particular, maps for landing site analysis and precision landing
 absolutely require the benefit of an expert human operator to
-eliminate obvious errors in the DEM; and also to guarantee that the
+eliminate obvious errors in the \ac{DEM}; and also to guarantee that the
 proper procedures have been followed to correct satellite telemetry
 errors so that the data have the best possible geodetic control.
 
-When it comes to using DEMs for scientific analysis, both techniques
-have their merits.  Human-guided stereo reconstruction produces DEMs
+When it comes to using \acp{DEM} for scientific analysis, both techniques
+have their merits.  Human-guided stereo reconstruction produces \acp{DEM}
 of unparalleled quality that benefit from the intuition and experience
-of an expert.  The process of building and validating these DEMs is
+of an expert.  The process of building and validating these \acp{DEM} is
 well established and accepted in the scientific community. 
 
-However, only a limited number of DEMs can be processed to this level
+However, only a limited number of \acp{DEM} can be processed to this level
 of quality.  For the rest, automated stereo processing can be used to
-produce DEMs at a fraction of the cost.  The results are not
+produce \acp{DEM} at a fraction of the cost.  The results are not
 necessarily less accurate than those produced by the human operator,
 but they will not benefit from the same level of scrutiny and quality
-control.  As such, users of these DEMs need to be able to identify
-potential issues, and to be on the lookout for errors that may result
+control.  As such, users of these \acp{DEM} must be able to identify
+potential issues, and be on the lookout for errors that may result
 from the improper use of these tools.  
 
 We recommend that all users of the Stereo Pipeline take the time to
@@ -119,26 +120,26 @@ \section{Human vs. Computer : When to Choose Automation}
 \section{The USGS Integrated Software for Imagers and Spectrometers}
 
 This version of the Stereo Pipeline must be installed alongside a
-compatible version of the USGS Integrated Software for Imagers and
-Spectrometers (ISIS).  ISIS is widely used in the planetary science
-community for processing raw spacecraft imagery into high level data
-products of scientific interest such as map projected and mosaicked
-imagery \cite{2004LPI....35.2039A, 1997LPI....28..387G, ISIS_website}.
-We chose ISIS because (1) it is widely adopted by the planetary
-science community, (2) it contains the athoritative collection of
-geometric camera models for planetary remote sensing instruments, and
-(3) is open source software that is easy to leverage.
+compatible version of the \ac{USGS} \ac{ISIS}. \ac{ISIS} is widely
+used in the planetary science community for processing raw spacecraft
+imagery into high level data products of scientific interest such
+as map projected and mosaicked imagery \cite{2004LPI....35.2039A,
+1997LPI....28..387G, ISIS_website}.  We chose \ac{ISIS} because (1)
+it is widely adopted by the planetary science community, (2) it
+contains the authoritative collection of geometric camera models
+for planetary remote sensing instruments, and (3) it is open source
+software that is easy to leverage.
 
 By installing the Stereo Pipeline, you will be adding an advanced
 stereo image processing capability that can be used in your existing
-ISIS workflow.  The Stereo Pipeline supports the ISIS ``cube'' file
-fromat, and can make use of the ISIS camera models and ancillary
-information (i.e. SPICE kernels) for imagers on many NASA spacecraft.
-The use of this single standardized set of camera models ensures
-consistency between products generated in the Stereo Pipeline and
-those generated by ISIS.  Also by leveraging ISIS camera models, the
-Stereo Pipeline can process stereo pairs captured by just about any
-NASA mission.  
+\ac{ISIS} work flow.  The Stereo Pipeline supports the \ac{ISIS}
+``cube'' (\texttt{.cub}) file format, and can make use of the \ac{ISIS}
+camera models and ancillary information (i.e. SPICE kernels) for
+imagers on many \ac{NASA} spacecraft.  The use of this single standardized
+set of camera models ensures consistency between products generated
+in the Stereo Pipeline and those generated by \ac{ISIS}.  Also by
+leveraging \ac{ISIS} camera models, the Stereo Pipeline can process
+stereo pairs captured by just about any \ac{NASA} mission.
 
 As an additional note, the Stereo Pipeline can also process arbitrary,
 non-ISIS images with accompanying camera information, but doing so
@@ -156,25 +157,25 @@ \section{The USGS Integrated Software for Imagers and Spectrometers}
 %
 %CORRELATION
 %
-%BUNDLE ADQJUSTMENT
+%BUNDLE ADJUSTMENT
 
 
 \section{Getting Help}
 
 All bugs, feature requests, and general discussion should be sent to
 the Ames Stereo Pipeline user mailing list:
 \begin{quote}
-\indent \url{stereo-pipeline@lists.nasa.gov}
+\indent \href{mailto:stereo-pipeline@lists.nasa.gov}{stereo-pipeline@lists.nasa.gov}
 \end{quote}
 To subscribe to this list, send an empty email message with the
-subject 'subscribe' (without the quotes) to:
+subject `subscribe' (without the quotes) to:
 \begin{quote}
-\indent \url{stereo-pipeline-request.lists.nasa.gov}
+\indent \href{mailto:stereo-pipeline-request@lists.nasa.gov}{stereo-pipeline-request@lists.nasa.gov}
 \end{quote}
 To contact the lead developers and project manager directly, send mail
 to:
 \begin{quote}
-\indent \url{stereo-pipeline-owner@lists.nasa.gov}
+\indent \href{mailto:stereo-pipeline-owner@lists.nasa.gov}{stereo-pipeline-owner@lists.nasa.gov}
 \end{quote}
 
 \section{Warnings to users of the Ames Stereo Pipeline ALPHA}
@@ -190,7 +191,7 @@ \section{Warnings to users of the Ames Stereo Pipeline ALPHA}
 robust, they have not been systematically tested or rigorously
 compared to other methods in the peer-reviewed literature. We have a
 number of efforts underway to carefully compare Stereo
-Pipeline-generated data products to those produced uisng established
+Pipeline-generated data products to those produced using established
 processes, and we will publish those results as they become available.
 In the meantime, {\bf we strongly recommend that you consult us first
   before publishing any results based on the cartographic products