High-resolution Stereo Images Research Articles

Building Height Extraction Based on Satellite GF-7 High-Resolution Stereo Image

Abstract. High-resolution remote sensing images can distinguish objects of smaller size, so as to more clearly express the texture features and structural information of objects, and provide a data source for the development of large-scale mapping, high-precision stereo measurement and other fields. The purpose of this paper is to complete the height estimation of the buildings by analyzing the stereoscopic observation formed by the front and rear view images of the Gaofen-7 line array CCD. After determining the roof profile of the building on the rear-view image, assuming a series of object elevations of the building, that is, searching for elevations with a certain step distance within a certain elevation search range, adopt the object-based image matching VLL algorithm, Through the RFM imaging model of the Gaofen-7 sensor, the rear-view contour is projected to the front-view image, and then the PSNR is selected as the similarity measure of the window, and the similarity of the image block area corresponding to the front- and rear-view contour is calculated. Corresponds to the hypothetical object elevation as the estimated height of the building. Under the technical route of this paper, the height of buildings on high-resolution images can be estimated to a level within 3 meters of accuracy.

CVGSR: Stereo image Super-Resolution with Cross-View guidance

The ability to capture the complementary information of stereo images is critical to the development of stereo image super-resolution. Most existing studies have attempted to integrate reliable stereo correspondence along the polar directions through parallax attention and various fusion strategies. However, most of these approaches ignore the large parallax differences in stereo images, resulting in poor performance of convolutional-based parallax attention in capturing the long-range dependencies between images. In this paper, we propose a novel cross-view guided stereo image super-resolution network (CVGSR) for reconstructing high-resolution stereo image pairs with rich texture details by fully exploiting the complementary nature of stereo image pairs. Specifically, we first deploy a cross-view interaction module (CVIM) to explore intra/cross-view dependencies from local to global to compensate for the incomplete compatibility of information between the left and right views. This module uses a progressive cross-guiding strategy to better merge features from occluded and non-occluded regions. Based on this, an efficient attention Transformer (EAT) is improved to activate more input information and further mine the cross-view complementarity. Furthermore, we design a texture loss to optimize the visual perceptual quality of reconstructed images with sharp boundaries and rich texture details. Extensive experiments on four stereo image datasets demonstrate that the proposed CVGSR achieves a competitive and excellent performance.

A Large-scale Virtual Dataset and Egocentric Localization for Disaster Responses.

With the increasing social demands of disaster response, methods of visual observation for rescue and safety have become increasingly important. However, because of the shortage of datasets for disaster scenarios, there has been little progress in computer vision and robotics in this field. With this in mind, we present the first large-scale synthetic dataset of egocentric viewpoints for disaster scenarios. We simulate pre- and post-disaster cases with drastic changes in appearance, such as buildings on fire and earthquakes. The dataset consists of more than 300K high-resolution stereo image pairs, all annotated with ground-truth data for the semantic label, depth in metric scale, optical flow with sub-pixel precision, and surface normal as well as their corresponding camera poses. To create realistic disaster scenes, we manually augment the effects with 3D models using physically-based graphics tools. We train various state-of-the-art methods to perform computer vision tasks using our dataset, evaluate how well these methods recognize the disaster situations, and produce reliable results of virtual scenes as well as real-world images. We also present a convolutional neural network-based egocentric localization method that is robust to drastic appearance changes, such as the texture changes in a fire, and layout changes from a collapse. To address these key challenges, we propose a new model that learns a shape-based representation by training on stylized images, and incorporate the dominant planes of query images as approximate scene coordinates. We evaluate the proposed method using various scenes including a simulated disaster dataset to demonstrate the effectiveness of our method when confronted with significant changes in scene layout. Experimental results show that our method provides reliable camera pose predictions despite vastly changed conditions.

Steformer: Efficient Stereo Image Super-Resolution With Transformer

With the rapid development of stereoscopic vision applications, stereo image processing techniques have attracted increasing attention in both academic and industrial communities. In this paper, we study the fundamental stereo image super-resolution (SR) problem, which aims to recover high-resolution stereo images from low-resolution (LR) stereo images. Since disparities between stereo images vary significantly, convolutional network-based stereo image SR methods show a limitation in capturing long-range dependencies. To address this problem, this paper proposes to leverage the capability of self-attention in Transformers to efficiently capture reliable stereo correspondence and incorporate cross-view information for stereo image SR. Our model, named Steformer, consists of three parts: cross attentive feature extraction, cross-to-intra information integration and high-quality image reconstruction. In particular, the cross attentive feature extraction module employs residual cross Steformer blocks (RCSB) for long-range cross-view information extraction. Then, the cross-to-intra information integration module exploits cross-view and intra-view information using cross-to-intra attention mechanism (C2IAM). Finally, residual Steformer blocks (RSB) are designed for feature pre-processing in high-quality image reconstruction. Extensive experiments show that Steformer achieves significant improvements over state-of-the-art approaches on both quantitative and qualitative evaluations, while the total number of parameters can be reduced by up to 40.71%.

Hierarchical Belief Propagation on Image Segmentation Pyramid.

The Markov random field (MRF) for stereo matching can be solved using belief propagation (BP). However, the solution space grows significantly with the introduction of high-resolution stereo images and 3D plane labels, making the traditional BP algorithms impractical in inference time and convergence.We present an accurate and efficient hierarchical BP framework using the representation of the image segmentation pyramid (ISP). The pixel-level MRF can be solved by a top-down inference on the ISP. We design a hierarchy of MRF networks using the graph of superpixels at each ISP level. From the highest/image to the lowest/pixel level, the MRF models can be efficiently inferred with constant global guidance using the optimal labels of the previous level. The large texture-less regions can be handled effectively by the MRF model on a high level. The advanced 3D continuous labels and a novel support-points regularization are integrated into our framework for stereo matching. We provide a data-level parallelism implementation which is orders of magnitude faster than the best graph cuts (GC) algorithm. The proposed framework, HBP-ISP, outperforms the best GC algorithm on the Middlebury stereo matching benchmark.

Geological, multispectral, and meteorological imaging results from the Mars 2020 Perseverance rover in Jezero crater.

Perseverance's Mastcam-Z instrument provides high-resolution stereo and multispectral images with a unique combination of spatial resolution, spatial coverage, and wavelength coverage along the rover's traverse in Jezero crater, Mars. Images reveal rocks consistent with an igneous (including volcanic and/or volcaniclastic) and/or impactite origin and limited aqueous alteration, including polygonally fractured rocks with weathered coatings; massive boulder-forming bedrock consisting of mafic silicates, ferric oxides, and/or iron-bearing alteration minerals; and coarsely layered outcrops dominated by olivine. Pyroxene dominates the iron-bearing mineralogy in the fine-grained regolith, while olivine dominates the coarse-grained regolith. Solar and atmospheric imaging observations show significant intra- and intersol variations in dust optical depth and water ice clouds, as well as unique examples of boundary layer vortex action from both natural (dust devil) and Ingenuity helicopter-induced dust lifting. High-resolution stereo imaging also provides geologic context for rover operations, other instrument observations, and sample selection, characterization, and confirmation.

Registration and Combined Adjustment for the Laser Altimetry Data and High-Resolution Optical Stereo Images of the GF-7 Satellite

The GF-7 satellite is China’s first civil sub-meter resolution stereo mapping satellite, aiming at 1:10,000-scale mapping. To achieve this goal, apart from the stereo optical cameras that reach sub-meter resolution, the GF-7 satellite is equipped with a laser altimetry system capable of obtaining three-dimensional laser points (LPs) with high elevation accuracy. However, the combination of laser altimetry data and optical stereo images has not been thoroughly studied. In this paper, we exploit the images recorded by the highly integrated laser footprint cameras and propose a hierarchical phase correlation method based on a geographic pyramid for the registration of laser altimetry data and high-resolution optical stereo images, which lays a solid foundation for the following combined adjustment. Experiments show that the proposed registration method can automatically locate the LPs on high-resolution stereo images and meet the requirements of bundle adjustment. A series of bundle adjustment experiments were carried out, showing that laser altimetry data can significantly enhance the vertical accuracy of optical image stereo mapping and that elevation accuracy can reach roughly 1.0 m (RSME) without ground control points. Therefore, this study could be a good guide for global high-precision DSM acquisition with the GF-7 satellite.

Disparity Estimation of High-Resolution Remote Sensing Images with Dual-Scale Matching Network

As an essential task in remote sensing, disparity estimation of high-resolution stereo images is still confronted with intractable problems due to extremely complex scenes and dynamically changing disparities. Especially in areas containing texture-less regions, repetitive patterns, disparity discontinuities, and occlusions, stereo matching is difficult. Recently, convolutional neural networks have provided a new paradigm for disparity estimation, but it is difficult for current models to consider both accuracy and speed. This paper proposes a novel end-to-end network to overcome the aforementioned obstacles. The proposed network learns stereo matching at dual scales, in which the low one captures coarse-grained information while the high one captures fine-grained information, helpful for matching structures of different scales. Moreiver, we construct cost volumes from negative to positive values to make the network work well for both negative and nonnegative disparities since the disparity varies dramatically in remote sensing stereo images. A 3D encoder-decoder module formed by factorized 3D convolutions is introduced to adaptively learn cost aggregation, which is of high efficiency and able to alleviate the edge-fattening issue at disparity discontinuities and approximate the matching of occlusions. Besides, we use a refinement module that brings in shallow features as guidance to attain high-quality full-resolution disparity maps. The proposed network is compared with several typical models. Experimental results on a challenging dataset demonstrate that our network shows powerful learning and generalization abilities. It achieves convincing performance on both accuracy and efficiency, and improvements of stereo matching in these challenging areas are noteworthy.

PHOTOGRAMMETRIC MAPPING FROM HIGH-RESOLUTION STEREO IMAGERY AND COMPARATIVE ANALYSIS USING EXISTING DATA

The launch of the very high resolution (VHR) sensor satellites has paved the way for further exploitation of the capabilities of stereo satellite imagery for many applications and most importantly in the extraction of topographical details. Advances in digital technologies in the photogrammetric technique provide more accurate and up to date topographic representation, while traditional methods of topographic mapping are time-consuming and require large technical support. This paper explores the methods of production and an analysis of the capabilities of the high-resolution stereo imaging system for the extraction of features (topographic map) and generation of digital elevation model (DEM). This study uses high-resolution GeoEye-1 stereo pair images. For qualitative assessment, topographic features were extracted by digitizing the georeferenced stereo pair images and overlapped to form a DEM and orthophoto within the Summit Evolution software. Georeferencing was carried out using the existing Ground Control Points (GCPs) and Check Points (CPs) established using Real-Time Kinematic Global Navigation Satellite System (RTK-GNSS) technique. For quantitative assessment, a total of 7 existing GCPs were considered suitable for use and 5 CPs were established as a check for accuracy of the output. The accuracy of the CPs was evaluated by computing Root Mean Square Error (RMSE). The average horizontal RMSE for the left image and right image were 1.17150098m and 0.819334672m respectively and the average vertical RMSE was 1.605898565m. Additionally, the standard deviation for elevation data from generated DEM using photogrammetric technique and existing elevation data of RTK-GNSS technique were computed, which resulted in 15.91286667 and 16.59529228 respectively. The accuracy was evaluated by comparing the results of the data extracted using stereo satellite images and those extracted from ground measurement techniques (Total station and RTK-GNSS). The comparative analysis showed that stereo pair images provide a viable alternative to other ground mapping techniques providing results within the acceptable range. Based on error estimation and analysis, it concludes that, if strict photogrammetric processing model and ground control points are employed, high-resolution satellite imagery can be used for the accurate generation and update of the topographic maps, DEM and digital orthophotos, which can be further be used as a reference for comparative analysis applications.

Mars3DNet: CNN-Based High-Resolution 3D Reconstruction of the Martian Surface from Single Images

Three-dimensional (3D) surface models, e.g., digital elevation models (DEMs), are important for planetary exploration missions and scientific research. Current DEMs of the Martian surface are mainly generated by laser altimetry or photogrammetry, which have respective limitations. Laser altimetry cannot produce high-resolution DEMs; photogrammetry requires stereo images, but high-resolution stereo images of Mars are rare. An alternative is the convolutional neural network (CNN) technique, which implicitly learns features by assigning corresponding inputs and outputs. In recent years, CNNs have exhibited promising performance in the 3D reconstruction of close-range scenes. In this paper, we present a CNN-based algorithm that is capable of generating DEMs from single images; the DEMs have the same resolutions as the input images. An existing low-resolution DEM is used to provide global information. Synthetic and real data, including context camera (CTX) images and DEMs from stereo High-Resolution Imaging Science Experiment (HiRISE) images, are used as training data. The performance of the proposed method is evaluated using single CTX images of representative landforms on Mars, and the generated DEMs are compared with those obtained from stereo HiRISE images. The experimental results show promising performance of the proposed method. The topographic details are well reconstructed, and the geometric accuracies achieve root-mean-square error (RMSE) values ranging from 2.1 m to 12.2 m (approximately 0.5 to 2 pixels in the image space). The experimental results show that the proposed CNN-based method has great potential for 3D surface reconstruction in planetary applications.

Impact heat driven volatile redistribution at Occator crater on Ceres as a comparative planetary process

Hydrothermal processes in impact environments on water-rich bodies such as Mars and Earth are relevant to the origins of life. Dawn mapping of dwarf planet (1) Ceres has identified similar deposits within Occator crater. Here we show using Dawn high-resolution stereo imaging and topography that Ceres’ unique composition has resulted in widespread mantling by solidified water- and salt-rich mud-like impact melts with scattered endogenic pits, troughs, and bright mounds indicative of outgassing of volatiles and periglacial-style activity during solidification. These features are distinct from and less extensive than on Mars, indicating that Occator melts may be less gas-rich or volatiles partially inhibited from reaching the surface. Bright salts at Vinalia Faculae form thin surficial precipitates sourced from hydrothermal brine effusion at many individual sites, coalescing in several larger centers, but their ages are statistically indistinguishable from floor materials, allowing for but not requiring migration of brines from deep crustal source(s).

Influence of plot and sample sizes on aboveground biomass estimations in plantation forests using very high resolution stereo satellite imagery

AbstractRegular biomass estimations for natural and plantation forests are important to support sustainable forestry and to calculate carbon-related statistics. The application of remote sensing data to estimate biomass of forests has been amply demonstrated but there is still space for increasing the efficiency of current approaches. Here, we investigated the influence of field plot and sample sizes on the accuracy of random forest models trained with information derived from Pléiades very high resolution (VHR) stereo images applied to plantation forests in an arid environment. We collected field data at 311 locations with three different plot area sizes (100, 300 and 500 m2). In two experiments, we demonstrate how plot and sample sizes influence the accuracy of biomass estimation models. In the first experiment, we compared model accuracies obtained with varying plot sizes but constant number of samples. In the second experiment, we fixed the total area to be sampled to account for the additional effort to collect large field plots. Our results for the first experiment show that model performance metrics Spearman’s r, RMSErel and RMSEnor improve from 0.61, 0.70 and 0.36 at a sample size of 24–0.79, 0.51 and 0.15 at a sample size of 192, respectively. In the second experiment, highest accuracies were obtained with a plot size of 100 m2 (most samples) with Spearman’s r = 0.77, RMSErel = 0.59 and RMSEnor = 0.15. Results from an analysis of variance type-II suggest that the overall most important factors to explain model performance metrics for our biomass models is sample size. Our results suggest no clear advantage for any plot size to reach accurate biomass estimates using VHR stereo imagery in plantations. This is an important finding, which partly contradicts the suggestions of earlier studies but requires validation for other forest types and remote sensing data types (e.g. LiDAR).

LiDAR-guided dense matching for detecting changes and updating of buildings in Airborne LiDAR data

Change detection is essential to keep 3D city models up-to-date. LiDAR data with high accuracy are used to create 3D city models. However, updating LiDAR data at state or nation level often takes around a decade. Very high resolution (VHR) stereo images, with often yearly updating rate and dense 3D information, provide an option for validating and updating LiDAR data. However, the 3D information in both data sources has quality problems. LiDAR point clouds are sparse and irregularly spaced, and have mixed returns near building edges, while 3D information extracted from stereo images are affected by shadow and low texture. This research proposes LiDAR-guided dense matching to address these problems explicitly for detecting accurate building changes. Data sparsity and irregular spacing is addressed by densifying LiDAR points in a form of a digital surface model (DSM). Instead of applying interpolation with associated edge problems due to mixed returns, three candidate DSMs are created by linking each DSM pixel to up to three planes as identified in segmented and triangulated LiDAR data. The candidate DSMs limit the disparity search space for dense matching, addressing low texture and shadow problems in images. Through edge-aware dense matching, the detailed building edge information in stereo pairs determine the optimal heights to address LiDAR edge problem. Changes are detected where corresponding pixels from dense matching have large color differences. Due to homogeneous surroundings and shadows, only partial changes are initially detected. A second hierarchical dense matching step is employed to complete changes and update 3D information by propagating initial partial changes iteratively. The proposed method is applied on data from two cities, Amersfoort and Assen, the Netherlands, with around 1200 existing buildings. In both areas, the method successfully verifies unchanged buildings while detecting minimum changes of 2×2×2m3. New and removed building detection in Amersfoort both have a F1 score of over 0.8, both in pixel and object evaluation, while F1 scores in Assen are over 0.9 for both categories. The experiments also show that the proposed method outperforms two well-known change detection methods in terms of verifying unchanged buildings and detecting small changes simultaneously.

ProPaCoL-Net: A Novel Recursive Stereo Image SR Network with Progressive Parallax Coherency Learning

Recently, stereo cameras have been widely packed in smart phones and autonomous vehicles thanks to low cost and smallsized packages. Nevertheless, acquiring high resolution (HR) stereo images is still a challenging problem. While the traditional stereo image processing tasks have mainly focused on stereo matching, stereo super-resolution (SR) has drawn less attention which is necessitated for HR images. Some deep learning based stereo image SR works have recently shown promising results. However, they have not fully exploited binocular parallax in SR, which may lead to unrealistic visual perception. In this paper, we present a novel and computationally efficient convolutional neural network (CNN) based deep SR network for stereo images by learning parallax coherency between the left and right SR images, which is called ProPaCoL-Net. The proposed ProPaCoL-Net progressively learns parallax coherency via a novel recursive parallax coherency (RPC) module with shared parameters. The RPC module is effectively designed to extract parallax information in prior for the left image SR from its right view input images and vice versa. Furthermore, we propose a parallax coherency loss to reliably train the ProPaCoL-Net. From extensive experiments, the ProPaCoL-Net shows to outperform the very recent state-of-the-art method with average 1.15 dB higher in PSNR.

PedX: Benchmark Dataset for Metric 3-D Pose Estimation of Pedestrians in Complex Urban Intersections

This paper presents a novel dataset titled PedX, a large-scale multimodal collection of pedestrians at complex urban intersections. PedX consists of more than 5,000 pairs of high-resolution (12MP) stereo images and LiDAR data along with providing 2D and 3D labels of pedestrians. We also present a novel 3D model fitting algorithm for automatic 3D labeling harnessing constraints across different modalities and novel shape and temporal priors. All annotated 3D pedestrians are localized into the real-world metric space, and the generated 3D models are validated using a mocap system configured in a controlled outdoor environment to simulate pedestrians in urban intersections. We also show that the manual 2D labels can be replaced by state-of-the-art automated labeling approaches, thereby facilitating automatic generation of large scale datasets.

Occurrence, evolution and ice content of ice‐debris complexes in the Ak‐Shiirak, Central Tien Shan revealed by geophysical and remotely‐sensed investigations

AbstractRock glaciers and large ice‐debris complexes are common in many mountain ranges and are especially prominent in semi‐arid mountains such as the Andes or the Tien Shan. These features contain a significant amount of ice but their occurrence and evolution are not well known. Here, we present an inventory of the ice‐debris complexes for the Ak‐Shiirak, Tien Shan's second largest glacierised massif, and a holistic methodology to investigate two characteristic and large ice‐debris complexes in detail based on field investigations and remote sensing analysis using Sentinel‐1 SAR data, 1964 Corona and recent high resolution stereo images. Overall, we found 74 rock glaciers and ice‐debris complexes covering an area of 11.2 km2 (3.2% of the glacier coverage) with a mean elevation of about 3950 m asl. Most of the complexes are located south‐east of the main ridge of Ak‐Shiirak. Ground penetrating radar (GPR) measurements reveal high ice content with the occurrence of massif debris‐covered dead‐ice bodies in the parts within the Little Ice Age glacier extent. These parts showed significant surface lowering, in some places exceeding 20 m between 1964 and 2015. The periglacial parts are characterised by complex rock glaciers of different ages. These rock glaciers could be remnants of debris‐covered ice located in permafrost conditions. They show stable surface elevations with no or only very low surface movement. However, the characteristics of the fronts of most rock glacier parts indicate slight activity and elevation gains at the fronts slight advances. GPR data indicated less ice content and slanting layers which coincide with the ridges and furrows and could mainly be formed by glacier advances under permafrost conditions. Overall, the ice content is decreasing from the upper to the lower part of the ice‐debris complexes. Hence, these complexes, and especially the glacier‐affected parts, should be considered when assessing the hydrological impacts of climate change. © 2018 John Wiley & Sons, Ltd.

Stereo Image Retrieval Using Height and Planar Visual Word Pairs

The wide availability of high-resolution satellite stereo images has created a surging demand for effective stereo image retrieval methods. Recently, few retrieval methods have been designed specifically for stereo images having unique characteristics (e.g., viewing number and viewing angles), and often have insufficient retrieval accuracy. A new content-based stereo image retrieval method is achieved with height and planar visual word pairs, which are generated from the stereo extracted digital surface models and orthoimages. Experimental results of the International Society for Photogrammetry and Remote Sensing stereo benchmark test data set show that our method outperforms the state-of-the-art methods in terms of accuracy and stability. Our method achieves a high retrieval precision of 0.9, and has a high efficiency. Our method is stable for two stereo pairs, covering the same scene from different sensors, which usually have a small ranking difference in the returned ranking list. Our method is helpful to quickly and accurately locate desired stereo images from large quantities of multisensor stereo images.

Hierarchical Stereo Matching in Two-Scale Space for Cyber-Physical System.

Dense disparity map estimation from a high-resolution stereo image is a very difficult problem in terms of both matching accuracy and computation efficiency. Thus, an exhaustive disparity search at full resolution is required. In general, examining more pixels in the stereo view results in more ambiguous correspondences. When a high-resolution image is down-sampled, the high-frequency components of the fine-scaled image are at risk of disappearing in the coarse-resolution image. Furthermore, if erroneous disparity estimates caused by missing high-frequency components are propagated across scale space, ultimately, false disparity estimates are obtained. To solve these problems, we introduce an efficient hierarchical stereo matching method in two-scale space. This method applies disparity estimation to the reduced-resolution image, and the disparity result is then up-sampled to the original resolution. The disparity estimation values of the high-frequency (or edge component) regions of the full-resolution image are combined with the up-sampled disparity results. In this study, we extracted the high-frequency areas from the scale-space representation by using difference of Gaussian (DoG) or found edge components, using a Canny operator. Then, edge-aware disparity propagation was used to refine the disparity map. The experimental results show that the proposed algorithm outperforms previous methods.

KOMPSAT-3A 입체영상을 이용한 남극 DEM 제작과 DEM 매칭에 의한 두 시기의 DEM 비교

Antarctica, where ice sheet has been declined rapidly, should be monitored periodically. However, there are difficult to access for local survey or aircraft observation due to the vast and extreme environments of the polar regions. In order to overcome this problem, there have been a lot of studies by acquiring radar or laser data by satellite. It is also difficult to accurately measure the changes of the surface where is composed of snow or ice layer, and it is also difficult to product a high-resolution DEM. This study therefore aims to product DEMs of two periods using high-resolution KOMPSAT-3A stereo images, and DEM matching is implemented by the LZD(Least-squares Z-Differences) method to detect DEM changes in both periods. As a result, the proposed method could be suggested as comparing height differences of the two DEMs within 1m precision.

Real-time smart and standalone vision/IMU navigation sensor

In this paper, we present a smart, standalone, multi-platform stereo vision/IMU-based navigation system, providing ego-motion estimation. The real-time visual odometry algorithm is run on a nano ITX single-board computer (SBC) of 1.9 GHz CPU and 16-core GPU. High-resolution stereo images of 1.2 megapixel provide high-quality data. Tracking of up to 750 features is made possible at 5 fps thanks to a minimal, but efficient, features detection–stereo matching–feature tracking scheme runs on the GPU. Furthermore, the feature tracking algorithm benefits from assistance of a 100 Hz IMU whose accelerometer and gyroscope data provide inertial features prediction enhancing execution speed and tracking efficiency. In a space mission context, we demonstrate robustness and accuracy of the real-time generated 6-degrees-of-freedom trajectories from our visual odometry algorithm. Performance evaluations are comparable to ground truth measurements from an external motion capture system.