diff --git a/.gitattributes b/.gitattributes index a6344aac8c09253b3b630fb776ae94478aa0275b..bc7116e4878b6e1173c2918f5236956c8f57c768 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33,3 +33,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +img/photo_lola_ours.jpg filter=lfs diff=lfs merge=lfs -text +img/shadow_test.jpg filter=lfs diff=lfs merge=lfs -text +img/stereo_truth.jpg filter=lfs diff=lfs merge=lfs -text +img/sun_sweep.gif filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b4ef585f475322cda16d2652fa94af3906e949eb --- /dev/null +++ b/README.md @@ -0,0 +1,93 @@ +--- +license: cc-by-4.0 +language: + - en +tags: + - lunar + - digital-elevation-model + - shape-from-shading + - self-supervised + - remote-sensing + - planetary-science + - pytorch +pipeline_tag: image-to-image +--- + +# gnomon + +1 m height maps of 26 lunar south-polar landing sites, solved from LRO photos lit from thirty directions. This repository holds the network weights, the scores, and the site list. The maps themselves (GeoTIFFs, 1 m) are in a separate dataset repository. + +

+ +700 m of the IM-2 landing site, sun 3° above the horizon and circling. Left, NASA's 10 m map. Right, ours. + +The polar sun circles the horizon, so a shadow cast from thirty directions is a thirty-way constraint on the ground. A differentiable renderer casts shadows from a height map; a self-supervised UNet is trained with that renderer as its only loss, no labels, no NASA elevation products. The only external height input is the LOLA 10 m laser grid, which anchors the low frequencies. + +

+ +A photo the network never saw. LOLA rendered under that sun. Ours rendered under that sun. + +## Files + +| path | contents | +|---|---| +| `weights///net.pt` | UNet state dict, PyTorch. 198 checkpoints: 7 to 8 seeds per 6 km site (`unet1` …), 3 per 16 km site, one `long` run, 20 MB each | +| `weights///params.json` | the per-sun-bin exposure and floor fitted with that network | +| `weights//split.json` | the frozen train/test split of sun bins for that site | +| `weights//sun_fit.csv` | sun direction per bin, nominal and refined | +| `results/.csv` | held-out scores for every map at that site, plain column names | +| `sites.csv` | every site: place, mission, coordinates, box size, status | + +**The weights are site-specific.** The network input is the stack of that site's training sun bins plus the LOLA base, so the channel count differs between sites and a checkpoint cannot be applied to another site. Each one reproduces its site's map from the public inputs; it is not a general lunar terrain model. + +## Scores + +Every fifth sun direction was hidden before fitting. Sixteen 300 m blocks of laser heights were removed from the fit. One site has an independent stereo DTM. + +| | LOLA 10 m | NASA 5 m SfS | ours 1 m | +|---|---|---|---| +| correlation with hidden photos, NASA's 16 km tile | 0.68 | 0.81 | 0.90 | +| shadow overlap (IoU), same tile | 0.82 | 0.82 | 0.86 | +| relative brightness error, same tile (lower is better) | 0.277 | 0.203 | 0.205 | +| RMSE against the stereo DTM, IM-2 | 0.50 m | | 0.40 m | +| sites beating LOLA on hidden photos | | | 26 of 26, median gain 0.23 | + +

+ + +

+ +Left: two hidden suns from opposite sides of the sky. Right: height error against the stereo DTM, and a 4 m crater LOLA draws as a flat line. + +## Using a checkpoint + +Reproduce a site's map from the public inputs with the pipeline in the code repository: + +``` +export MOONDEM_DATA=data/sites/haworth MOONDEM_BOX=haworth +python pipeline/step1_cut_photos.py && python pipeline/step2_get_laser_heights.py && python pipeline/step3_check_sun_angles.py +cp weights/haworth/split.json $MOONDEM_DATA/ +python pipeline/step5_fit_terrain_network.py --infer-only weights/haworth/unet1/net.pt --tag from_checkpoint +``` + +The architecture is a five-level UNet (widths 32, 64, 128, 256, 256) that takes 2·N+1 channels (N training bins, their valid masks, the LOLA base) and outputs a height residual scaled by 5 m. Input stacks, LOLA windows and the solver are in the code repository. + +## Not proven + +- Only one site has independent truth, a 4 m-post stereo DTM at IM-2 that is band-limited near 20 m. +- Hidden suns have trained neighbours about 15° away. The two-sun shadow test is what rules out appearance interpolation. +- The correlation metric is close to what the network optimises. NASA's 5 m map keeps lower brightness error at one site and is closer at the LOLA points it was fit to. +- The sun-bin filter was applied before the split, so it touched the test bins. +- Fine relief is in the right places but about a third too strong: the renderer has no albedo term. Slopes at baselines under 20 m are an upper bound until an albedo refit. +- Permanently shadowed floors produce no map. +- Multi-image shape-from-shading is an established method, run at 1 to 2 m on some sites by NASA Ames. What is new here is scale and cost (26 sites, one night, about $150), the held-out validation, the self-supervised network, and full release. + +## Training data + +LROC controlled NAC south-polar mosaics (PDS type BDRNPL), 1 m per pixel, one mosaic per 10° of sub-solar longitude, 23 to 36 per tile. LOLA 10 m south-polar DEM from PGDA. Evaluation only: LROC NAC stereo DTM NOBILE03 and NASA PGDA 5 m shape-from-shading DEM of the Leibnitz Beta plateau. + +## Citation + +``` +@misc{gnomon2026, title={gnomon: 1 m height maps of lunar south-polar landing sites from multi-sun photos}, year={2026}, howpublished={Hugging Face}} +``` diff --git a/img/photo_lola_ours.jpg b/img/photo_lola_ours.jpg new file mode 100644 index 0000000000000000000000000000000000000000..da36945254877da66752774e64ee9af2221d459d --- /dev/null +++ b/img/photo_lola_ours.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fa0569af747422b8a93cc0943511bbbbd6bbc0263e2b6ebadddbdad6a26b624 +size 244223 diff --git a/img/shadow_test.jpg b/img/shadow_test.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a2f5b18452d78ec2fe4a1da2bf1fd2fec3e201a3 --- /dev/null +++ b/img/shadow_test.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/results/shoemaker_floor.csv @@ -0,0 +1,6 @@ +map,hidden_suns_n,hidden_sun_shadow_accuracy,hidden_sun_shadow_overlap,hidden_sun_correlation,hidden_sun_brightness_error,hidden_laser_rmse_m,hidden_laser_median_error_m,hidden_laser_n,stereo_dtm_rmse_m,stereo_dtm_slope_rmse_deg,stereo_dtm_n,max_slope_15m_deg,p90_slope_15m_deg,relief_60m_m +lola_10m,1,0.2465903759002685,0.2465903818763562,,,6.106760501861572,1.9769287109375,4410,,,0,5.377172946929932,4.494041919708252,3.379638671875 +ours_direct_diverged_run1,1,0.2465903759002685,0.2465903818763562,,,6.121037006378174,1.9906005859375,4410,,,0,5.907136917114258,4.650632381439209,3.460205078125 +ours_ensemble_1m,1,0.2465903759002685,0.2465903818763562,,,6.107429027557373,1.9783935546875,4410,,,0,4.696742534637451,4.213709354400635,3.24462890625 +ours_network_long_1m,1,0.2465903759002685,0.2465903818763562,,,6.107422351837158,1.97998046875,4410,,,0,4.644159317016602,4.202054023742676,3.235595703125 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+ours_direct_diverged_run1,2,0.3394804000854492,0.3393992288734511,-0.0232200715690851,1.2185527998961898,1.697290301322937,0.992919921875,2532,,,0,6.540265083312988,6.090254783630371,6.353271484375 +ours_ensemble_1m,2,0.3394285887479782,0.3394027798948982,-0.0186109002679586,1.0220783433196468,1.5934386253356934,0.90093994140625,2532,,,0,6.32580041885376,5.96574068069458,6.3330078125 +ours_network_long_1m,2,0.3394298851490021,0.339401835032772,0.0178066976368427,4.764787759271639,1.5926717519760132,0.90399169921875,2532,,,0,6.290394306182861,5.844794750213623,6.2760009765625 +ours_network_unet1_1m,2,0.3394206017255783,0.3394024563906637,0.0095359794795513,4.288620855687849,1.5945813655853271,0.9007568359375,2532,,,0,6.362782955169678,5.998175621032715,6.3541259765625 diff --git a/results/south_pole.csv b/results/south_pole.csv new file mode 100644 index 0000000000000000000000000000000000000000..820789b1dd2be110d5d88ca13c918925b0ed44ff --- /dev/null +++ b/results/south_pole.csv @@ -0,0 +1,6 @@ +map,hidden_suns_n,hidden_sun_shadow_accuracy,hidden_sun_shadow_overlap,hidden_sun_correlation,hidden_sun_brightness_error,hidden_laser_rmse_m,hidden_laser_median_error_m,hidden_laser_n,stereo_dtm_rmse_m,stereo_dtm_slope_rmse_deg,stereo_dtm_n,max_slope_15m_deg,p90_slope_15m_deg,relief_60m_m +lola_10m,6,0.8768510321776072,0.849901375523915,0.6201288402080536,0.2727462772743861,2.9824435710906982,1.37353515625,4014,,,0,6.705798625946045,5.675359725952148,4.5670166015625 +ours_direct_diverged_run1,6,0.878659705320994,0.8551319195702466,0.7941278119881948,0.43602223231424,1.534348964691162,0.534271240234375,4014,,,0,10.021772384643556,6.19708251953125,5.8568115234375 +ours_ensemble_1m,6,0.8790160268545151,0.8561386845096443,0.7745039562384287,0.1777404700849244,2.9482080936431885,1.360107421875,4014,,,0,7.911260604858398,5.709758758544922,5.297119140625 +ours_network_long_1m,6,0.8790511637926102,0.8563201543832787,0.7660331179698309,0.4412205449411555,2.936864137649536,1.357574462890625,4014,,,0,7.831457614898682,5.818320274353027,5.3006591796875 +ours_network_unet1_1m,6,0.8791286597649256,0.8565685115241792,0.7728228072325388,0.4392547954894382,2.951618194580078,1.35675048828125,4014,,,0,8.23346996307373,5.844718933105469,5.2796630859375 diff --git a/sites.csv b/sites.csv new file mode 100644 index 0000000000000000000000000000000000000000..912f925f8d13a41c605b6d66079acfa4c99ed68f --- /dev/null +++ b/sites.csv @@ -0,0 +1,37 @@ +site,lat_deg,lon_deg_east,box_half_width_m,box_km,status,description +im2_mons_mouton,84.7906,29.1957,3000,6,mapped,IM-2 landing site on Mons Mouton (pilot box; code name boxA) +leibnitz_beta_6km,,,3000,6,mapped,6 km box inside NASA's 5 m SfS tile A3CLR22_10 Leibnitz Beta plateau (code name boxB) +leibnitz_beta_16km,,,8000,16,mapped,NASA's whole 16 km Leibnitz Beta tile (code name boxL) +mm4_chandrayaan4,84.289,32.808,3000,6,mapped,Chandrayaan-4 sample-return site MM-4 +nobile_rim1,85.4377,37.4446,3000,6,mapped,Artemis region Nobile Rim 1 +malapert_massif,85.9799,358.5,3000,6,mapped,Artemis region Malapert Massif (shifted 2.6 km west off the 0 deg tile edge) +shackleton_ce7,88.8,123.4,3000,6,mapped,Chang'e-7 / ILRS target near the Shackleton rim +de_gerlache_rim2,88.2226,296.5651,3000,6,mapped,Artemis region de Gerlache Rim 2 +haworth,86.753,336.328,3000,6,mapped,Artemis region Haworth +connecting_ridge,89.4627,223.3211,3000,6,mapped,"Connecting Ridge (best-lit spots, ISRU)" +faustini_rim_a,87.8635,87.3,3000,6,mapped,Artemis region Faustini Rim A (shifted 3 km off the 90 deg tile edge) +peak_near_shackleton,88.8085,124.6842,3000,6,mapped,Peak near Shackleton +amundsen_rim,84.2256,69.3038,3000,6,mapped,Artemis region Amundsen Rim +de_gerlache_rim,88.6749,293.6299,3000,6,mapped,de Gerlache Rim +south_pole,89.85,45.0,3000,6,mapped,4.5 km from the pole toward 45E (tile corner avoided) +lcross_impact,84.675,311.275,3000,6,"permanently shadowed, no usable photos",LCROSS impact site in Cabeus (water ice) +mons_mouton_plateau,85.2,33.0,3000,6,mapped,Artemis region Mons Mouton Plateau (approx) +shackleton_floor,89.67,129.8,3000,6,permanently shadowed,Shackleton crater floor (permanently shadowed) +nobile_rim1_east,85.3,40.5,3000,6,mapped,"Nobile Rim 1, east" +nobile_rim2,84.55,60.0,3000,6,no usable signal,Artemis region Nobile Rim 2 (approx) +slater_plain,88.15,105.0,3000,6,no usable signal,Artemis region Slater Plain (approx) +shoemaker_floor,88.1,44.9,3000,6,permanently shadowed,Shoemaker crater floor (PSR) +amundsen_floor,84.5,82.9,3000,6,mapped,Amundsen crater floor +nobile_floor,85.2,53.5,3000,6,mapped,Nobile crater floor +de_gerlache_rim1,88.45,285.0,3000,6,mapped,Artemis region de Gerlache Rim 1 (approx) +sverdrup_rim,88.2,210.0,3000,6,permanently shadowed,Sverdrup crater rim (approx) +cabeus_floor,84.9,324.5,3000,6,mapped,Cabeus crater floor +pole16,89.6,135.0,8000,16,mapped,16 km box next to the pole covering Shackleton crater and its rim peaks +mouton16,84.7906,29.1957,8000,16,mapped,16 km box on Mons Mouton around IM-2 +nobile16,85.4377,37.4446,8000,16,mapped,16 km box on Nobile Rim 1 (Artemis) +malapert16,85.9799,356.0,8000,16,mapped,16 km box on Malapert Massif (Artemis; shifted west off the 0 deg tile edge) +haworth16,86.753,336.328,8000,16,not finished,16 km box on Haworth (Artemis) +degerlache16,88.2226,296.5651,8000,16,mapped,16 km box on de Gerlache Rim 2 (Artemis) +faustini16,87.8635,98.0,8000,16,not finished,16 km box on Faustini Rim A (Artemis; shifted east off the 90 deg tile edge) +amundsen16,84.2256,69.3038,8000,16,not finished,16 km box on Amundsen Rim (Artemis) +slater16,88.15,105.0,8000,16,not finished,"16 km box on Slater Plain (Artemis, approx)" diff --git a/weights/amundsen_floor/split.json b/weights/amundsen_floor/split.json new file mode 100644 index 0000000000000000000000000000000000000000..e4bbb6128d2ae26ff3c06f15998be1128fd73718 --- /dev/null +++ b/weights/amundsen_floor/split.json @@ -0,0 +1 @@ +{"names": ["NAC_POLE_SOUTH_CM_035_P848S0787", "NAC_POLE_SOUTH_CM_075_P848S0787", "NAC_POLE_SOUTH_CM_095_P848S0787", "NAC_POLE_SOUTH_CM_105_P848S0787", "NAC_POLE_SOUTH_CM_125_P848S0787", "NAC_POLE_SOUTH_CM_135_P848S0787", "NAC_POLE_SOUTH_CM_155_P848S0787"], "test": ["NAC_POLE_SOUTH_CM_035_P848S0787", "NAC_POLE_SOUTH_CM_135_P848S0787"], "rule": "valid>=0.02 & max(ncc_nom,ncc_fit)>=0.5"} \ No newline at end of file diff --git a/weights/amundsen_floor/sun_fit.csv b/weights/amundsen_floor/sun_fit.csv new file mode 100644 index 0000000000000000000000000000000000000000..2d422756e7a55ad45c6dc55bfd35b24839d350a4 --- /dev/null +++ b/weights/amundsen_floor/sun_fit.csv @@ -0,0 +1,14 @@ +mosaic,az_nom,el_nom,ncc_nom,shadow_agree_nom,az_fit,el_fit,ncc_fit,shadow_agree_fit,lit_frac_obs,valid_frac,shadow_thr 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