Reconstruction of 3D scenes from 2D images is a technical challenge that impacts domains from Earth and planetary sciences and space exploration to augmented and virtual reality. Typically, reconstruction algorithms first identify common features across images and then minimize reconstruction errors after estimating the shape of the terrain. This bundle adjustment (BA) step optimizes around a single, simplifying scalar value that obfuscates many possible causes of reconstruction errors (e.g., initial estimate of the position and orientation of the camera, lighting conditions, ease of feature detection in the terrain). Reconstruction errors can lead to inaccurate scientific inferences or endanger a spacecraft exploring a remote environment. To address this challenge, we present VECTOR, a visual analysis tool that improves error inspection for stereo reconstruction BA. VECTOR provides analysts with previously unavailable visibility into feature locations, camera pose, and computed 3D points. VECTOR was developed in partnership with the Perseverance Mars Rover and Ingenuity Mars Helicopter terrain reconstruction team at the NASA Jet Propulsion Laboratory. We report on how this tool was used to debug and improve terrain reconstruction for the Mars 2020 mission.

Modern software development requires developers to find and effectively utilize new APIs and their documentation, but documentation has many well-known issues. Despite this, developers eventually overcome these issues but have no way of sharing what they learned. We investigate sharing this documentation-specific information through annotations, which have advantages over developer forums as the information is contextualized, not disruptive, and is short, thus easy to author. Developers can also author annotations to support their own comprehension. In order to support the documentation usage behaviors we found, we built the Adamite annotation tool, which provides features such as multiple anchors, annotation types, and pinning. In our user study, we found that developers are able to create annotations that are useful to themselves and are able to utilize annotations created by other developers when learning a new API, with readers of the annotations completing 67% more of the task, on average, than the baseline.