Geological core imaging system

Abstract

A geological specimen imaging system including a support frame, a first receptacle supported by the support frame and configured to retain a geological specimen in a first orientation to expose a first curved surface of the geological specimen, and a translational imaging apparatus. The imaging apparatus includes a housing including a first opening and a second opening configured to receive at least a portion of the geological specimen within the housing, a translation mechanism configured to translate the imaging apparatus along a length of the geological specimen, an illumination assembly arranged with respect to the housing including at least one light source configured to illuminate an imaging region, and an imaging sensor receiving assembly arranged with respect to the housing and configured to retain an imaging sensor at each of multiple locations.

Description

[0001] Attorney Docket No. 48231 -0025W01

[0002] GEOLOGICAL CORE IMAGING SYSTEM

[0003] BACKGROUND

[0004] TECHNICAL FIELD

[0005] This specification relates to core imaging systems.

[0006] BACKGROUND

[0007] A core sample is a cylindrical section of a substance used for geologic analysis. Most core samples are obtained by drilling with special drills into the substance, such

[0008] as sediment or rock. A variety of core samplers exist to sample different media under different conditions; there is continuing development in the technology. In the coring process, the sample is pushed more or less intact into the tube. Removed from the tube in the laboratory, the core sample is inspected and analyzed by different techniques and equipment depending on the type of data desired. Generally, core samples are broken into shorter segments to enable easier handling, analysis, and storage.

[0009] SUMMARY

[0010] This specification describes technologies for imaging of geological specimens, e.g., core samples. These technologies generally involve a core imaging system including a modular, translational imaging apparatus configured to capture continuous imaging data along an intact core sample and / or long segments of core samples from multiple imaging angles. The modular, translational imaging apparatus can retain an imaging sensor, e.g., camera, at two or more, e.g., at least three, orientations with respect to the core sample, and utilizes offset illumination source(s) oriented relative to the imaging plane to minimize unwanted optical effects, e.g., specular reflections, glare, and the like.

[0011] The modular, translational imaging apparatus can be moved along a support frame with respect to a core sample. The support frame can include registration markers delineating a location of the imaging apparatus with respect to the core sample. The core imaging system can include a rotation fixture for securely rotating the intact and / or long segments of core sample relative to the support frame and the imaging apparatus in order to facilitate imaging of up to 360 degrees about the circumference of the core sample. Attorney Docket No. 48231 -0025W01

[0012] In some implementations, the imaging apparatus is held fixed and the core sample is translated with respect to the imaging apparatus. In some examples, core imaging system can include two or more imaging apparatus, e.g., each having respective sensor(s) for capturing characterization data for the core sample. In cases where the core sample is translated, the support frame of the core imaging system can include rollers or other translation mechanism for supporting, stabilizing, and translating the full core sample, e.g., at least a 1 meter length core sample within the split tube, with respect to the imaging apparatus. In some implementations, both the imaging apparatus and the core sample can be translated with respect to each other.

[0013] The core imaging system generates a composite image, e.g., using image stitching techniques, of the surface of the core sample from the imaging data captured along the length of the core sample as well as the imaging data captured about the circumference or across the core sample at the multi-camera orientations. Image stitching or a photo stitching process can be used to combine multiple photographic images with overlapping fields of view to produce a segmented panorama or high-resolution composite image, which can be used to visualize the three-dimensional (3D) surface of the cylindrical core sample.

[0014] The technology described in this specification can be implemented so as to realize one or more of the following advantages. The technology of this disclosure represents a substantially robust imaging system for enabling on-site imaging of a geological specimen, e g., a core sample. The geological specimen can include, for example, rock, soil, ice, minerals, or other geologic compounds. The system described in this specification reduces the handling of the intact core samples after they are extracted from the core barrel. Reduced handling can lessen the risk of breakage and subsequent mis-orientation of the pieces of the core sample, which in turn can result in preserving a maximum amount information from the core sample.

[0015] Using a core imaging system that captures continuous imaging or video data of long segments and / or the intact length of the core sample, for example, continuous capture of a sequence of images during motion along core, can result in more accurate information than a typical core box or scanner imaging of the core sample after it is broken into pieces for transport or to fit into a core box. By utilizing continuous imaging of the intact core, i.e., the core as extracted from the core barrel, without breaking into pieces, the imaging process can Attorney Docket No. 48231 -0025W01

[0016] prevent possible rotations among pieces of core during handling and maintain the core orientation along the length of the core as well as rotational orientation about a circumference of the core. Maintaining core orientation as the core piece was removed from the borehole preserves layer composition and fidelity and allows for more accurate reconstruction of geological layers between drill point samples.

[0017] The system include structures to support the core sample while collecting imaging data from multiple camera angles with the core sample retained in a stationary orientation. Additionally, the imaging system includes structures to support and stabilize the core sample during rotational movements to avoid breakage and preserve continuity while enabling imaging of both sides of the core sample. Through rotation of the core sample, the system can capture imaging data of the surface of the core sample including up to 360 degrees about the entire circumference of the core sample. Collecting multiple camera angles about a rotational axis of the core sample and subsequently generating a composite image from the multiple images can improve image quality relative to a single top down image of a curved core sample. For example, a larger fraction of the core sample surface can be imaged in focus and at high-resolution.

[0018] The imaging system can be used to construct a full picture of the composition of the core sample as it was removed from the bore hole, which can increase the amount of information being captured that can be used to generate 3D models constructed with the angular and rotational information preserved.

[0019] In some implementations, the geological sample may be flat on one or more sides, and the imaging system can be used to construct a full picture of the flat sample surface.

[0020] The core imaging system described in this specification can include modular adaptability. For example, the core imaging system can include at least, e.g., at least 3 or more, imaging orientations with respect to the rock core sample. For example, a housing of an imaging apparatus of the core imaging system can include multiple selectable receptacles configured to receive a camera, e.g., a mobile phone including a camera, to capture imaging data of the core sample. In another example, the imaging apparatus of the core imaging system can include modular light sources, e.g., offset white light sources, configured to provide substantially uniform illumination of an imaging region of the core imaging system. The offset illumination scheme can facilitate low-specular reflection with bright illumination Attorney Docket No. 48231 -0025W01

[0021] over a wide range of imaging angles and for a variety of surface finishes of the core sample, which can enable short shutter speeds and reduction of blur in the captured imaging data.

[0022] In some implementations, at least a portion of the image processing of the captured imaging data to generate composite images of the core sample can be performed on an edge device. The edge-enabled processing can reduce data transmitted over a network to a cloudbased server by creating a preliminary or final stitched image at a local device, such that the system only transmits a subset of the captured pixels of the imaging data to a cloud-based server.

[0023] The core imaging system can include a user interface that confirms focus, exposure, image quality, and speed / overlap for a user performing the capture of the imaging data, e.g., in a manual or semi-automatic manner. The user interface can provide feedback to notify the user of particular regions needing further data collection, e.g., due to poor image quality or missing data.

[0024] In some implementations, the core imaging system can include additional types of sensors in addition to image capture, e.g., cameras, to capture data related to conductivity, density, or other chemical and / or structural composition characteristics. The additional data can be used to enrich the imaging data captured of the core sample.

[0025] The details of one or more embodiments of the subject matter of this specification are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages of the subject matter will become apparent from the description, the drawings, and the claims.

[0026] BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1A shows an example operating environment of a core imaging system.

[0027] FIG. IB depicts an example operating environment of a core imaging system operable using an off-grid power source.

[0028] FIG. 2A is a schematic of an example of the core imaging system including a core rotation mechanism.

[0029] FIG. 2B is a schematic of another example of a core imaging system.

[0030] FIG. 2C is a schematic of an example imaging apparatus.

[0031] FIG. 2D is a schematic of an example portion of a core imaging system.

[0032] FIG. 2E depicts various views of a core end cap for a core imaging system. Attorney Docket No. 48231 -0025W01

[0033] FIG. 3 A depicts an example process for securing the clamping mechanism and providing a rotatory motion by the core rotation mechanism to rotate the core sample supported by the core rotation mechanism.

[0034] FIG. 3B depicts a bottom-up partially-transparent view of the core rotation mechanism from underneath the platform of the support frame.

[0035] FIG. 4A is a schematic of a semi-transparent view of an example imaging apparatus of the core imaging system.

[0036] FIG. 4B shows two example images of the fiducial markers for a core imaging system.

[0037] FIG. 5 is a schematic of a cross-sectional view of an example imaging apparatus of the core imaging system.

[0038] FIG. 6A depicts a schematic of a partial view of an example core imaging system. FIG. 6B depicts a schematic of a partial view of an example core imaging system. FIGS. 7A, 7B, and 7C are schematics of various views of an example imaging apparatus of the core imaging system.

[0039] FIGS. 8 A, 8B, 8C, and 8D are various schematics views of an example imaging apparatus of the core imaging system.

[0040] FIG. 9 is a schematic view of an example components of an imaging apparatus of a core imaging system.

[0041] FIG. 10 is a schematic view of an example cradle for retaining a mobile device.

[0042] FIG. 11 is a schematic of a semi-transparent view of an example imaging apparatus of the core imaging system.

[0043] FIGS. 12A and 12B are schematic cross-sectional views of example receptacles retaining core samples.

[0044] FIGS. 13A and 13B are schematic cross-sectional views of an example process for capturing a cylindrical surface of a core sample.

[0045] FIG. 14 depicts a process for capturing a cylindrical surface of a core sample.

[0046] FIG. 15 is a flow diagram of an example process for imaging a core sample, according to some embodiments.

[0047] FIG. 16 is a flow diagram of an example process for imaging a core sample, according to some embodiments. Attorney Docket No. 48231 -0025W01

[0048] FIG. 17 is a flow diagram of an example process for imaging a core sample, according to some embodiments.

[0049] Like reference numbers and designations in the various drawings indicate like elements.

[0050] DETAILED DESCRIPTION FIG. 1A shows an example operating environment 100 of a core imaging system 102. Core imaging system 102 includes a support frame 104 and an imaging apparatus 106.

[0051] Imaging apparatus 106 is support by support frame 104 and translatable along a length 108 of support frame 104 by a travel system 110. The imaging apparatus 106 can be manually translated, e.g., by an operator 134 or can be automatically or semi-automatically translated.

[0052] Core imaging system 102 includes a receptacle 112 supported by the support frame 104 and configured to retain a core sample 114. The receptacle can have a curvature of a partial arc length, where a core sample retained by the receptacle will have a portion of a curved surface of the core sample exposed.

[0053] Support frame 104 includes a platform 105 that has a length to accommodate a length of a core sample. For example, platform can be at least the length of a core sample, e.g., at least 1 meter, at least 2 meters, at least 3 meters, at least 5 meters, at least 6 meters, or longer.

[0054] Imaging apparatus 106 includes housing 115, camera(s) 116, and illumination source(s) 118. Housing 115 is arranged with respect to the support frame 104 to enclose a portion of a core sample 114 retained by the receptacle 112. The housing includes openings on opposing ends of the housing to allow the housing to translate along a core sample 114 retained by the receptacle 112. One or more illumination sources 118 are supported by and arranged with respect to the housing 115 to illuminate a portion of a core sample 114 retained by the receptacle 112. One or more cameras 116 are supported by and arranged with respect to the housing 115 to capture respective fields of view of a portion of the core sample 114 enclosed by housing 115.

[0055] Imaging apparatus includes a data processing apparatus 113 including memory 120 and processor(s) 122 in data communication with the memory 120. The data processing apparatus 113 can be supported by and affixed to the housing 115 of the imaging apparatus 106. The processor(s) 122 can be one or more hardware processors, which can each include multiple processor cores. The memory 120 can include both volatile and non-volatile Attorney Docket No. 48231 -0025W01

[0056] memory, such as Random Access Memory (RAM) and Flash RAM. The data processing apparatus 113 can include various types of computer storage media devices, which can include the memory 120, to store instructions of programs that run on the processor(s) 122, including a core imaging program 117, which generate composite images of core samples from imaging data captured by the core imaging system. The data processing apparatus 113 is configured to provide instructions to the camera(s) 116 and illumination source(s) 118 to capture imaging data 124 and metadata 126 of the core sample 114. In some implementations, the data processing apparatus 113 is an edge-device. The edge-device can be a mobile device, e.g., a mobile phone, tablet, laptop computer, or the like. Some or all of the processes described in this specification can be performed by the data processing apparatus 113.

[0057] In some implementations, imaging data 124 and metadata 126 of the core sample 114 are cached locally on the data processing apparatus 113, e.g., cached on the edge device. In some instances, imaging data 124 and metadata 126 are stored locally on the edge device until a network connection to the cloud-based server is available, e.g., until a satellite network connection is available. In some implementations, the core imaging system can store the imaging data 124 and metadata 126 at the edge device until sufficient bandwidth to transmit the data to the cloud-based server is available and otherwise will save to a local storage.

[0058] In some implementations, one or more components of the imaging apparatus are operable on battery-power. For example, the data processing apparatus can be a battery-powered device e.g., the data processing apparatus is a component of a mobile device operating on battery power. In another example, the illumination assembly includes battery-powered light sources. In another example, the imaging sensor is a camera of a battery-powered mobile device. In some instances, the core imaging system is entirely operable or operable in part on battery-power, e.g., not connected to a power grid or a grid-based power source. In some instances, the core imaging system is entirely operable or operable in part on a local, renewable energy source, e.g., operable using photovoltaics or wind power.

[0059] For example, FIG. IB depicts an example operating environment 150 of a core imaging system 152 operable using an off-grid power source. Core imaging system 152 includes a power system 154. Power system can include one or more power sources, e g., Attorney Docket No. 48231 -0025W01

[0060] renewable energy source, fuel-based energy source, or a combination of both. For example, power system can include solar panels for generating and storing power. Power system can include power storage 156, e.g., 200 Ah battery power supply. The power storage can include multiple rechargeable batteries, e.g., modular power supplies for powering one or more components of the imaging apparatus. Power system can be electrically connected to the power source, to the imaging apparatus, or a combination of both. Power system can additionally be used to power a network connection 158 to a cloud-based server, e.g., power a satellite-based transmitter / receiver. The core imaging system 152 can be operable entirely off of an off-grid power source, e.g., renewable energy source, fuel-based energy source, or a combination of both, which can power the imaging apparatus, internet connection, and can be used to charge rechargeable battery packs, mobile devices, and the like.

[0061] Referring now to FIG. 1A, data processing apparatus 113 of imaging apparatus 106 can be in data communication with a cloud based server 128 over a network 130. In some implementations, data processing apparatus 113 transmits the generated composite image 132 over the network 130 to the cloud-based server 128. Cloud-based server 128 can store the composite images 132 in a database.

[0062] In some implementations, some or all of the preprocessing of the captured images is performed by the edge device, e.g., on a mobile phone, prior to transmitting the processed images to the cloud-based server 128 over the network 130. In some examples, the edge device processes the captured images of the core and generates the composite images of the core prior to transmitting the composite images to the cloud-based server 128.

[0063] The edge device can preprocess the captured images and provide real-time or near real-time feedback to the operator of the core imaging system. For example, the core imaging system can provide audio, visual, or a combination of both feedback to the operator related to the capture of the images of the core sample. In some instances, the core imaging system can preprocess the captured images on the edge device and provide feedback to the operator to re-take some or all of the images of the core sample, e g., in response to determining that one or more of the captured images are problematic. For example, the core imaging system can determine that one or more of the captured images are out of focus, presence of dirt or contamination on the camera lens, improper or insufficient illumination, or the like. In some implementations, data processing apparatus 113 is operable to run a core Attorney Docket No. 48231 -0025W01

[0064] imaging application 140 including a graphical user interface (GUI) for engaging with the operator 134. For example, a GUI for a core imaging application 140 can be presented in an application environment of the edge device. The core imaging system can alert the operator, e.g., through the GUI of the application 140, and request to correct the problem and then recapture of one or more of the images of the core sample, e.g., re-run the imaging process for the core sample. Advantageously, by preprocessing the captured images on the edge device, the operator can receive feedback in real-time and near-real time prior to uploading any problematic data to the cloud-based server, thereby reducing data transmission to the cloudbased server.

[0065] In some implementations, data processing apparatus 113 can perform operations including auto-detection of core diameter and auto-focus of the camera responsive in part on the detected core diameter. In some examples, the auto-detection and auto-focus is performed on the edge device, e.g., on the mobile device.

[0066] In some implementations, preprocessing the captured images includes enriching the captured images with core metadata. For example, core metadata can include core or imaging information captured within the field of view of the camera, core or imaging information input by a user of the core imaging system, or a combination of both. Core information can include, for example, hole number, start and end depth of the core, core diameter, core storage information, geolocation of the core, and the like. Imaging information can include color, white balance, exposure, resolution, camera parameters, lighting parameters, and the like.

[0067] In some implementations, as described in further detail with reference to FIGS. 2E, 4A, 4B below, core metadata includes fiducials or other markings / indicators captured within a field of view of the camera(s) of the imaging apparatus. The fiducials can be used to establish a position of the captured image with respect to the global coordinate system of the core imaging system, e.g., a location of the captured image with respect to the core.

[0068] In some implementations, core metadata is readable text, images, or a combination of both. For example, the core metadata can be human readable, machine-readable, or a combination of both. The core metadata can be included in each image of the captured images, e.g., held fixed within a field of view of the camera(s) during the imaging of the core, provided as input through an application environment of the core imaging system to Attorney Docket No. 48231 -0025W01

[0069] save with the captured image, or a combination of both. In some implementations, the core imaging system includes a core rotation mechanism operable to support and rotate a core sample about an axis aligned with the length of the core sample, e.g., rotation about axis 101, with respect to the support frame such that a different portion of the core sample surface is exposed to the camera(s) of the imaging apparatus. FIG. 2A is a schematic of an example of the core imaging system 200 including a core rotation mechanism 202.

[0070] As depicted, a core barrel 204 is aligned with support frame 206 to facilitate extraction of core sample 208 from core barrel 204 onto the receptacle 210 on the support frame 206 for imaging by the imaging apparatus 207. Support frame 206 includes core rotation mechanism 202. The core rotation mechanism 202 includes at least one, e.g., at least two, clamping points along the length of the support frame 206 aligned with the core sample 208 retained by the receptacle 210.

[0071] Core rotation mechanism 202 can accommodate a second receptacle 214, where the second receptacle 214 is aligned on a surface of the core sample 208 that is not supported by the first receptacle 210. Core rotation mechanism 202 can include clamping mechanisms, e.g., clamping mechanism 216, at each of the clamping points along the length, where the clamping mechanisms secure the first receptacle 210 and the second receptacle 214 about a surface of the core sample 208, providing structural support for the core sample 208, e.g., to prevent breakage or unintentional rotation of the core sample 208.

[0072] In some implementations, core rotation mechanism 202 includes bearings, rollers, gears, or other mechanical parts facilitating rotation of the clamping mechanisms 216 of the core rotation mechanism 202. The core rotation mechanism 202 can be manually operated, e.g., by a user of the core imaging system 200.

[0073] In some implementations, the core rotation mechanism 202 includes a handhold or a grip component configured to allow a user to apply a force to the core rotation mechanism 202 to cause the rotatory motion of the core sample 208. For example, the clamping mechanism 216 can include a grip or handhold that a user can interact with to apply the rotary torque to the clamping mechanism which causes the core sample to rotate with the clamping mechanism.

[0074] In some implementations, a portion of the support frame 206 may be cut out to accommodate the clamping mechanisms 216 of the core rotation mechanism 202. For Attorney Docket No. 48231 -0025W01

[0075] example, as depicted in FIGS. 3 A and 3B, a portion of a clamping mechanism 216 can be below the plane of the platform 220 of the support frame 206. FIG. 2B is a schematic of another example of a core imaging system 250. As depicted, the core imaging system 250 includes an extended split tube 252 that extends beyond the end of the core sample 254.

[0076] Imaging apparatus 256 of the core imaging system 250 includes handles, e.g., handle 258. Handles can be used, for example, by a user to adjust a position of the imaging apparatus along the rails of the support frame 264, to transport the imaging apparatus, e.g., off of the support frame, and the like.

[0077] As depicted in FIG. 2C, the imaging apparatus 256 is configured to retain multiple cameras 260, e.g., three mobile devices including cameras. The imaging apparatus can include retention assemblies for affixing the mobile device(s) to the imaging apparatus housing and oriented to capture respective fields of view of the core during the image capture process. The imaging apparatus 256 includes a power source 262, e g., an electrical box for electronics as well as for retaining a battery source. In some examples, the battery source can be a modular battery pack that can be selectively swapped out to maintain power to the imaging apparatus and respective components, e.g., mobile devices, illumination assembly, and the like.

[0078] As depicted in FIG. 2D, the core imaging system includes a support frame 264 having an extended portion 266 beyond the core support portion 268. The support frame extended portion 266 can be configured to support the imaging apparatus 256 in a position that is offset from the portion of the support frame configured to retain the core. The extended portion can include frame portion to support the imaging apparatus without the rails or other guides that are included in the portion of the support frame configured to retain the core. The extended portion 266 can reduce the overall length of the portion for retaining the core, reducing the portion of the support frame requiring the full features. Additionally, the extended portion can reduce the full length of the core retaining portion, which can reduce complexity for shipping and logistics.

[0079] Referring to FIG. 2B, in some implementations, the core imaging system includes a core end cap 270 configured to receive and retain an end of the core sample. FIG. 2E depicts various views 272, 274 of a core end cap 270 for the core imaging system. Attorney Docket No. 48231 -0025W01

[0080] The core end cap 270 has a diameter that can accommodate the end of the core sample, e.g., having an inner diameter that is larger than the outer diameter of the core sample. In some examples, the core imaging system can include multiple core end caps, each having a respective inner diameter and compatible with a standard core sample size. The respective core end cap can be selected based on the outer diameter of the core sample to retain the end of the core sample.

[0081] The core end cap can include friction points 276, e.g., rubber or another polymer rings, about the outer diameter of the core end cap to contact the core split tube and provide friction between the core end cap and split tube, e.g., to prevent unintentional rotation of the core with respect to the split tube.

[0082] The core end cap includes fiducial markings 278, for example, markings about the circumference of the core end cap and arranged to provide rotational indexing, linear registration, or a combination of both. For example, the core end cap can be affixed to the end of the core sample to create a fixed location along the longitudinal axis and rotational axis before and after the rotation of the core sample.

[0083] In some examples, the core end cap can be affixed to the end of the core sample as the core sample is being extracted from the drill hole or after the core sample is extracted from the drill hole and prior to imaging. In some implementations, the core end cap can be aligned with an orientation mark 280 indicated during the drilling process. For example, as depicted in the view 274, the core end cap can include an alignment indicator 282 which can be oriented with the orientation mark 280.

[0084] The support frame 264 can include indicators 284 to assist with the alignment of the split core tube with the support frame, e.g., to assist with visual alignment of where to place the core and split core tube. The fiducial markings 278 of the core end cap can be distributed about the circumference of the core end cap. Each fiducial marking of the multiple fiducial markings can be unique with respect to each other fiducial marking, e.g., include a unique code or design. For example, each fiducial marking can be a unique Aruco, QR code, or other fiducial codes. The fiducial markers can be distributed about the circumference of the core end cap to provide a least a threshold angular resolution, e.g., a unique fiducial marker per degrees of rotation about the central axis along the core sample. For example, the fiducial markers can be distributed about the circumference of the core end cap such that at Attorney Docket No. 48231 -0025W01

[0085] least ± 5 degrees, 2 degrees, 1 degree, 0.5 degree, 0.25 degree, or the like of rotational accuracy is maintained.

[0086] In some implementations, a core end cap is affixed to each end of the two ends of the core sample. For example, a first core end cap is affixed to a first end where imaging of the core initiates and a second core end cap is affixed to a second end where imaging of the core terminates. Each of the core end caps can include a respective indicator, e.g., fiducial marking or text-based indicator, identifying it as an ’’initiating” end cap or a “terminating” end cap.

[0087] In some implementations, as depicted in FIG. 4B, the core end caps can include other core imaging information, which can be captured within the field of view of the camera(s) of the imaging apparatus. For example, the core end cap can include a depth block 450 indicating a depth of field, a color metric 452 for calibrating the color of the camera(s), an indicator delineating a “start” or “end” of the core 454, or any combination of these.

[0088] FIG. 3 A depicts an example process for securing the clamping mechanism 216 and providing a rotatory motion by the core rotation mechanism 202 to rotate 224 the core sample 208 supported by the core rotation mechanism 202. Clamping mechanism 226 is shown in FIG. 3A as disassembled, with a top portion 228 depicting the alignment of the components of the clamping mechanism with respect to the first receptacle and second receptacle.

[0089] FIG. 3B depicts a bottom-up partially-transparent view of the core rotation mechanism 202 from underneath the platform 220 of the support frame 206. As depicted, a roller 222 on each side of the clamping mechanism 216 facilitates the rotatory motion of the clamping mechanism 216 to rotate the core sample 208 supported by the core rotation mechanism 202.

[0090] FIG. 4A is a schematic of a semi-transparent view of an example imaging apparatus 400 of the core imaging system. Imaging Apparatus 400 includes a housing 404 defining an interior volume, e.g., imaging region 406, where a portion of a core sample 408 is located within the imaging region 406 when the core sample 408 is retained by the core imaging system 402.

[0091] The housing 404 includes first opening 410 and second opening 412 through which the core sample 408 is accommodated as the imaging apparatus 400 translates along the Attorney Docket No. 48231 -0025W01

[0092] support frame 414. The imaging apparatus 400 includes an imaging sensor receiving assembly 416 including imaging locations, e.g., imaging locations 418 and 420, arranged about the assembly 416 and configured to retain imaging sensors, e.g., camera 422, or light shields, e.g., light shield 424, at each of the imaging locations, where a focal plane of the imaging sensor is aligned with portions of the surface of the core sample 408 when the imaging sensor is retained at each of the imaging locations.

[0093] The imaging apparatus 400 includes illumination assembly, e.g., illumination assembly 426. The illumination assembly can include one or more light sources and can be located on either end of the housing 404 within the interior volume and offset from the imaging region 406, e.g., outside the field of view of the imaging sensor, e.g., camera 422, at each of the imaging locations, e.g., imaging locations 418, 420.

[0094] In some implementations, the light sources are low-angle light sources oriented outside a range of angles to prevent reflections. For example, the light sources can be arranged such that light emitted from the light sources is incident on a surface of the core sample within the imaging region outside the family of angles of the imaging system to eliminate specular reflections. For example the light sources may be at more than 60 degrees away from vertical if the imaging system is pointing down with a field of view of 30 degrees. . The light sources can be arranged in an arc, e.g., as depicted in FIG. 4A.

[0095] In some implementations, the core is wetted or damped before and during the imaging process. The core can be wetted with water or a low vapor pressure, non-toxic liquid.

[0096] Illumination from low angles using illumination assembly 426 can reduce reflections off of the wet core in the captured images.

[0097] In some implementations, the illumination assembly 426 includes battery-powered illumination for cord-free and remote-site operation. For example, the illumination assembly 426 includes battery-powered LED sources. For example, as described with reference to FIG. IB, the core imaging system can include a power source including a battery charging station to charge modular battery packs which can be plugged into the imaging apparatus to provide power to the illumination assembly.

[0098] In some implementations, the illumination assembly 426 includes multicolored illumination. For example, the illumination assembly can include light sources having Attorney Docket No. 48231 -0025W01

[0099] wavelengths to generate UV fluorescence in the core sample, e.g., to distinguish mineral types.

[0100] In some implementations, the illumination assembly 426 includes bright light sources, for example, with more than 2 watts of optical power, with more than 5 watts of optical power, with more than 10 watts of optical power, or more. The bright light sources can include at least 4, at least 6, at least 8 sources each producing about 2000 Lumens. For example, 6 bright light sources at 2000 Lumens each producing about 12,000 Lumens of illumination. Integrating bright light sources can allow for short shutter speed for image capture, which can reduce or eliminate motion blur for continuous capture during motion. For example, a continuous capture can be e.g., 1 / 200, 1 / 500, 1 / 1000, 1 / 2000 sec per frame. For example, a continuous capture of a sequence of images during motion along the core sample can be 10 images per second, or 30 images per second. The bright light sources can be white LEDs which can be color corrected with known color cards. In some implementations, the illumination assembly 426 is configured for flash illumination, e.g. triggering light source and camera shutter operation simultaneously.

[0101] In some implementations, housing 404 of the imaging apparatus provides blackout conditions, e.g., less than a threshold amount of ambient light, to enter within the imaging region 406. For example, the housing 404 can provide a dark enclosure with baffles that travels along the core for isolating illumination from the ambient environment, e.g., the area outside the housing 404 and exterior to the imaging region 406. In some instances, the housing 404 includes light blocking tunnels, e.g., tunnel 428, arranged at each of the first and second openings 410, 412 of the housing 404 to minimize an amount of ambient light entering the imaging region 406 through the first and second openings 410, 412. The light blocking tunnels can be arranged to minimize ambient light while not contacting the core sample as the imaging apparatus translates along the length of the core sample.

[0102] In some implementations, the light emitted by the light sources of the illumination assembly is substantially brighter than ambient lighting, e.g., at least 120 W of illumination, so ambient lighting does not affect image quality. In such cases, the housing of the illumination assembly does not need to produce blackout conditions within the imaging region 406. Attorney Docket No. 48231 -0025W01

[0103] The imaging sensor receiving assembly 416 is configured to retain one or more imaging sensors, e.g., camera 422, in respective imaging locations, e.g., imaging location 418. For example, the assembly 416 can accommodate the one or more imaging sensors at respective imaging locations and secure the one or more imaging sensors using fixtures, e.g., pins, slots, latches, etc..

[0104] In some implementations, an imaging sensor is a camera. For example, a camera can be a CCD camera, CMOS-based camera, line scan camera, a 3D or structured light camera, or the like. A camera can capture images in various wavelength spectra. For example, a camera can be an infrared camera, a visible light camera, a multispectral camera, an RGB camera, or the like. An imaging sensor can be a line scan camera, or a line scan multispectral camera, which can create a continuous image as it is translated along the core. In some implementations, the imaging sensor is a camera of a mobile device, e g., of a mobile phone.

[0105] In some implementations, the imaging sensor receiving assembly 416 is configured to retain different types of imaging sensors. For example, the assembly is compatible with two or more different types of imaging sensors, e.g., a camera of a mobile device and a standalone CCD camera.

[0106] In some implementations, the imaging apparatus 400 includes one or more lenses or focusing optics (not shown). For example, the imaging apparatus can include a telecentric lens arranged with respect to an imaging location such that the telecentric lens is arranged in the optical path of the imaging sensor retained by the imaging sensor receiving assembly of the imaging apparatus. A telecentric lens can be included to reduce distortions of the imaging data captured by the imaging sensor.

[0107] In some implementations, the imaging apparatus 400 includes offset camera spacers (not shown) to allow known core diameters without adjustment for field of view. For example, the angular orientations of the imaging locations arranged on the imaging sensor receiving assembly can be adjustable such that the different angles of orientation can be selectable to allow for different surfaces of the core sample to be captured within a field of view of the imaging sensor(s) retained at the imaging locations.

[0108] In some implementations, the imaging apparatus 400 includes at least three imaging positions at respective different angles of orientation arranged on the imaging sensor receiving assembly 416. The at least three imaging positions can be at respective different Attorney Docket No. 48231 -0025W01

[0109] angles of orientation to capture, within fields of view of imaging sensors at each of the imaging positions, at least 180 degrees of the circumference of the surface of the core sample in a first position and at least 180 degrees of the circumference of the surface of the core sample in a second, rotated position.

[0110] In some implementations, the core imaging system includes multiple imaging sensors arranged along a length of the support frame at known positions relative to the core sample. For example, the imaging sensor receiving assembly can include two or more imaging locations to receive respective imaging sensors spaced along the length of the core sample in addition to the imaging locations arranged about the cylindrical axis of the core sample.

[0111] In some implementations, the core imaging system includes a sensor, e.g., camera, distance sensor, etc., configured to measure a location of the imaging apparatus relative to the length of the core sample. The sensor can have a wide view of the support frame to facilitate measurement of a position of the imaging apparatus, as the imaging apparatus translates along the length of the core sample. In some implementations, the core imaging system includes a distance sensor or encoder to measure the absolute location of the sensor relative to the core or relative to the support frame.

[0112] The imaging apparatus 400 includes a travel system 430 to mechanically translate, e.g., linearly translate, the imaging apparatus 400 along an axis 432 aligned with the length of the core sample 408 and supported by the support frame 414. The travel system can be configured to translate the imaging apparatus while maintaining a stable, e.g., a rigid, mounting of the imaging sensors with respect to the core sample.

[0113] The travel system 430 can include a rail system to translate the imaging apparatus along the length of the support frame while restricting lateral movement of the imaging apparatus with respect to the support frame. The rail system can extend along the length of the support frame for at least the core support portion of the support frame, and optionally along the length of the extended portion of the support frame, e.g., as described with reference to FIG. 2C. The rail system can include rotating elements 434 to translate the imaging apparatus 400 along the support frame 414. For example, the rotating elements 434 can be rollers, wheels, bearings, or other rotatory motion components, coupled to the housing of the imaging apparatus and supported by the support frame. The travel system 430 can include guide rails 436 or plates located on one or both lateral sides of the rotating elements, Attorney Docket No. 48231 -0025W01

[0114] which can restrict the motion of the rotating elements along the length of the support frame. The rotating elements 434 can be offset laterally from the core sample in order to accommodate different diameters of core sample.

[0115] In some implementations, travel system 430 is manually operated, e.g., a user applies force to the imaging apparatus 400 in the direction of motion along axis 432 to translate the imaging apparatus 400 along the length of support frame 414.

[0116] In some implementations, the travel system can include a semi-automated or automated motion control. For example, the travel system can include motors (not shown) mechanically coupled to the rotary elements to cause the rotary elements to translate the imaging apparatus along the length of the support frame. The travel system can include a controller operable to provide control signals to the motor to cause the motor to operate. Controller can be a component of the data processing apparatus 113. In some instances, the semi-automated or automated motion control can include stabilizers or dampers to reduce unwanted motion, vibrations, or oscillations.

[0117] In some implementations, travel system 430 can include motion control including a limit switch at each end of the support frame. The motor can be configured to translate the imaging apparatus along the length of the support frame until the limit switch is contacted. In some examples, the limit switch can be configured to trigger other operations related to the core imaging system, e.g., to trigger operation of the illumination assembly, which can be used to extend the battery life of an onboard battery by limiting power draw when the imaging apparatus is not actively capturing images..

[0118] In some implementations, the travel system includes brushes 438 contacting a portion of the support frame 414. The brushes 438 can be aligned to dampen the motion of the imaging apparatus, e.g., reduce unwanted motion, vibrations, or oscillations, and to clean the components of the travel system, e.g., the tracks, rails, sliders, etc., from debris.

[0119] In some implementations, the travel system includes motion control components, e.g., to protect the core imaging system from damage. For example, the travel system includes bumpers (not shown) at the ends of the range of linear motion of the imaging apparatus to prevent the imaging apparatus from going beyond the target range of motion. Further discussion of the travel system is described with reference to FIG. 6. Attorney Docket No. 48231 -0025W01

[0120] The core imaging system includes fiducial markers 440 arranged on the support frame 414. The core imaging system 402 can use the fiducial markers 440 to enable reconstruction of the positions of the imaging sensor(s) capturing imaging data of the core sample 408. FIG.

[0121] 4B shows two example images of the fiducial markers for a core imaging system. Fiducial markers 440 can include, for example, marks, tallies, symbols, QR codes, barcodes, or other indicators. The fiducial markers 440 can be inscribed, printed, adhered, or otherwise marked onto the support frame or a component supported by the support frame. For example, fiducial markers 440 can be holes or drill bit indentations in the support frame 414. In another example, the fiducial markers 440 can be a measurement tool, e.g., a meter stick, yardstick, measuring tape, etc., aligned with the support frame. The fiducial markers 440 can be visible to a human eye.

[0122] In some implementations, the fiducial markers 440 can be arranged with respect to the support frame 414 such that a subset of fiducial markers are within a field of view of at least one imaging sensor located at an imaging position of the multiple imaging positions. The subset of fiducial markers within the field of view of the imaging sensor at an imaging location can indicate (A) an angle of orientation of the imaging sensor relative to the surface of the core sample, (B) a location along the length of the core sample of the imaging sensor, or (C) a combination of both. For example, the subset of fiducial markers within the field of view of an imaging sensor at an imaging location is indicative of the imaging location of multiple imaging locations at which the imaging sensor is located. In another example, the subset of fiducial markers within the field of view of an imaging sensor at an imaging location is indicative of the location along the length of the support frame at which the imaging sensor is located.

[0123] In some implementations, the fiducial markers 440 can include, for example, uniformly spaced indicators along the length of the support frame. In some instances, the fiducial markers can be asymmetrically spaced along the length of the support frame or across a width of the support frame. For example, fiducial markers on a first lateral side of the support frame may be different, e.g., differently spaced, differently indicated, etc., than the fiducial markers on a second lateral side of the support frame. Asymmetry of the fiducial markers can be used by the core imaging system, for example, to identify a location of the imaging apparatus, enrich imaging data with location information, or the like. For example, Attorney Docket No. 48231 -0025W01

[0124] fiducial markers can be used to enable reconstruction of imaging sensor position with respect to the core sample. In some implementations, multiple marked measurement tools can be used to increase a precision of absolute position measurements along the length of the support frame, e.g., to ensure high-accuracy encoding.

[0125] A position of the imaging apparatus along the core during the imaging process can be determined using computer vision recognition of Aruco or other fiducial codes along the length of the core table. This can enable a global coordinate system, where unique codes for each position can allow the system to determine a camera position in absolute space, e.g., as long as several fiducial markers within the field of view of the camera. In some examples, the arrangement of the fiducial markers about the support frame, e.g., a spacing of the fiducial markers along the length of the support frame enables 0.1 mm position accuracy. A high degree of positional accuracy can enable image stitching of the captured images to reconstruct the core sample.

[0126] In some implementations, the imaging apparatus includes a distance sensor to measure a distance of the imaging apparatus to the end of the support frame 414. For example, a distance sensor can include a laser source on the imaging apparatus or positioned on one end of the support table and a detector aligned to capture a direct measurement of the laser light or a reflection of the laser light from a mirror positioned on the end of the support table or imaging apparatus.

[0127] In some implementations, the fiducial markers 440 can be arranged on the support frame such that fiducial markers may be out of the sharpest depth of field of the imaging sensor.

[0128] FIG. 5 is a schematic of a cross-sectional view of an example imaging apparatus 500 of the core imaging system. FIG. 5 depicts a field of view 502 of a camera 504 arranged at imaging position 505 with respect to the imaging sensor receiving assembly 506. The camera 504 is affixed to the imaging sensor receiving assembly 506 by a pin 507. The field of view 502 of the camera 504 within imaging region 509 includes a portion of the cylindrical surface of the core sample 508 including a portion of the circumference of the core sample and a portion of the length of the core sample.

[0129] In some implementations, the field of view 502 of the camera 504 does not include the light sources of the illumination assembly 510 within the field of view 502. As such, the Attorney Docket No. 48231 -0025W01

[0130] light emitted by the illumination assembly is offset from the field of view 502 of the camera 504 and can generate low specular reflection conditions for capturing imaging data by the camera.

[0131] FIG. 6A is a schematic of a partial view 600 of an example core imaging system 602. As depicted, the core sample 604 is retained by receptacle 606 where the receptacle is conformal to a partial arc length of the core sample. In some implementations, an opening 608 can be modular and include a modular tunnel to accommodate free motion of the imaging apparatus 610 without contacting the diameter of the core sample 604 while minimizing an amount of ambient light entering within the imaging region using light blockers 620, e.g., imaging region 509 depicted in FIG. 5.

[0132] The travel system of FIG. 6 includes rotation elements 612 aligned with rails 614 to guide the linear motion of the imaging apparatus 610 along the length of the support frame 616, e.g., orthogonal to the plane of FIG. 6. Brushes 618 adjacent to the rotation elements can clear the path of debris, e.g., soil, sediment, etc., as well as dampen the motion of the imaging apparatus as it is translated along the length of the support frame.

[0133] FIG. 6B depicts a schematic of a partial view 650 of an example core imaging system. In some implementations, the rail system of the support frame 654 includes rollers 656 to facilitate rotating the core sample. In some instances, the rail system of the support frame includes a brake to hold the rollers fixed during imaging. In some instances, the rollers of the rail system can be selectively raised into a first position to facilitate rotation of the core sample and lowered into a second position when the core sample is not being rotated.

[0134] FIGS. 7A, 7B, and 7C are schematics of various views of an example imaging apparatus of the core imaging system. Housing 700 of the imaging apparatus 702 includes an imaging sensor receiving assembly 704 which including multiple selectable imaging locations, e.g., imaging locations 706a, 706b, for receiving an imaging sensor (e.g., camera) or another type of sensor to the imaging sensor receiving assembly. For example, the imaging sensor receiving assembly 704 includes two or more imaging locations, e.g., three imaging locations. The multiple imaging locations are arranged with respect to the image sensor receiving assembly to position a camera at different angular orientations with respect to a portion of a core sample retained within the housing. Attorney Docket No. 48231 -0025W01

[0135] The imaging locations of the imaging sensor receiving assembly can be configured to selectively couple to an imaging sensor 708, e.g., camera, another type of sensor, or a light shield 710 to shield ambient light from the imaging region 712 within the housing. For example, the imaging locations can couple to a mobile device including a camera, e.g., using a cradle 718 retaining the mobile device. The imaging sensor receiving assembly 704 can include fixtures 714, e.g., slots, holes, latches, pins, buckles, adhesive, or other fixtures, to secure the imaging sensor, other type of sensor, or light shield to each of the imaging locations. The fixtures of the imaging sensor receiving assembly can be reversible such that a component, e.g., imaging sensor, other type of sensor, light shield, can be secured or removed from an imaging location selectively.

[0136] In some implementations, the imaging locations of the imaging sensor receiving assembly are configured to receive (A) an imaging sensor (e g., retained by a cradle) or (B) a light shield, where the light shield is coupled to the imaging location assembly to block out ambient lighting from the imaging region, e.g., the interior of the housing. In some examples, the imaging sensor receiving assembly retains two or more imaging sensors, e.g., three imaging sensors. In some examples, the imaging sensor receiving assembly retains one imaging sensor in a first imaging location, and blanks at each other imaging locations of the imaging sensor receiving assembly.

[0137] In some implementations, imaging apparatus includes a modular illumination assembly. FIGS. 8A, 8B, 8C, and 8D are schematics of various views of an example imaging apparatus of the core imaging system. The imaging apparatus 800 can be selectively coupled and secured to multiple different illumination assemblies, e.g., two or more different illumination assemblies.

[0138] In some implementations, the different illumination assemblies, e g., illumination assemblies 802a, 802b, 802c, 802d, can include various types of lighting schemes. In some examples, the different illumination assemblies can include different wavelength spectra, e.g., white light, blue light, UV light, etc. In some examples, the different illumination assemblies can include different types of illumination sources, e.g., light-emitting diodes (LEDs), structured light sources, lasers, diffuse light sources, etc. In some examples, the different illumination assemblies can have different angles of incidence of the illumination Attorney Docket No. 48231 -0025W01

[0139] sources with respect to the imaging region within the housing, e g., high-angle illumination, low-angle illumination, etc.

[0140] The different modular illumination assemblies can be selectively coupled and secured to the imaging apparatus, for example, based on a type of imaging process. For example, a first illumination assembly can be selected to perform fluorescence spectroscopy and a second illumination assembly can be selected to capture high-resolution images of the core sample.

[0141] Although depicted in FIGS. 8A-8D as example illumination assemblies having three light sources, more or fewer light sources can be integrated into the modular illumination assembly. For example, as depicted in FIG. 4A, the illumination assembly can be an arc of light sources, e.g., arc of LEDs.

[0142] In some implementations, the illumination assembly can be affixable to one or more of the imaging locations of the image sensor receiving assembly. For example, the illumination assembly can include a structured light source having an angle of incidence on the core sample orthogonal to the surface of the core sample within the imaging region.

[0143] In some implementations, the core imaging system is configurable to accommodate core samples having different diameters. FIG. 9 is a schematic view 900 of an example components of an imaging apparatus of a core imaging system. Housing 902 of the imaging apparatus can include modular tunnels 904a, 904b to accommodate different sizes of core sample diameter, where a closest matching tunnel diameter can be inserted into the housing to allow the imaging apparatus to translate over the core sample while minimizing an amount of ambient light from entering the imaging region of the housing.

[0144] In some implementations, the imaging sensor receiving assembly 906 is modular such that the imaging sensor receiving assembly can be selectively secured to the housing 902 of the imaging apparatus.

[0145] In some implementations, an imaging sensor is a camera of a mobile device, where the mobile device is affixed to the imaging sensor receiving assembly using a cradle. FIG.

[0146] 10 is a schematic view of an example cradle 1000 for retaining a mobile device 1002. A cradle 1000 includes a receptacle 1004 for receiving an imaging sensor and fixture(s) 1006 for securing the cradle to the imaging sensor receiving assembly of the imaging apparatus. The cradle 1000 can be affixed to the imaging sensor receiving assembly to align the imaging Attorney Docket No. 48231 -0025W01

[0147] sensor retained by the cradle with respect to the imaging location, e.g., align a focal plane of the imaging sensor with the imaging region. For example, the cradle can accommodate a mobile device including a camera and position the camera with respect to the imaging location. In another example, the cradle can accommodate a standalone camera or video recording device and position the camera with respect to the imaging location. In another example, the cradle can accommodate another type of sensor, e.g., an electrical probe, and position the sensor with respect to the imaging location.

[0148] In some implementations, the imaging sensor receiving assembly includes multiple imaging positions arranged with respect to the housing such that an imaging sensor, e.g., a camera of a mobile device, aligned at each of the multiple imaging positions can capture images at a range of angles of orientation with respect to a surface of the core sample within the imaging region. FIG. 11 is a schematic of a semi-transparent view 1100 of an example imaging apparatus 1102 of the core imaging system.

[0149] As depicted, a mobile device 1104 including a camera is retained in a cradle 1106 and is aligned with respect to a first imaging position 1108 of the multiple imaging positions and where a light shield 1110 is positioned with respect to each other imaging position of the multiple imaging positions to block out ambient light from the unused imaging positions.

[0150] As described above, a receptacle is supported by the support frame of the core imaging system and retains a core sample. A curvature of the receptacle is selected based in part by a diameter of the core sample retained by the receptacle, e.g., closely matched. The receptacle has a partial arc length equal to less than the circumference of the core sample. For example, a partial arc length of the receptacle can be about 1 / 2 of the circumference of the core sample, 1 / 3 of the circumference of the core sample, or less.

[0151] FIGS. 12A and 12B are schematic cross-sectional views of example receptacles retaining core samples. In some implementations, e.g., as depicted in FIG. 12A, the core sample 1200 is retained by a first receptacle 1202 in a first orientation 1204 while the core imaging system captures first imaging data, e.g., a first set of images of a first portion of the surface of the core sample, and the core sample 1200 is retained by a second receptacle 1206 in a second orientation 1208 while the core imaging system captures second imaging data, e.g., a second set of images of a second, different portion of the surface of the core sample. Attorney Docket No. 48231 -0025W01

[0152] As described with reference to FIGS 2, 3 A, 3B, a core sample is retained by a first receptacle and supported by the support frame, and a second receptacle is aligned with a first exposed surface, e.g., a surface not contacted by the first receptacle, to support the core sample during a rotation of the core sample by the core rotation mechanism. After a rotation of the core by the core rotation mechanism, the second receptacle retains the core sample supported by the support frame and the first receptacle is removed to expose a second exposed surface of the core sample.

[0153] For example, a first receptacle 1202 can have a partial arc length equal to about 1 / 2 of the circumference of the core sample 1200 and a second receptacle 1206 can have a partial arc length equal to about 1 / 3 of the circumference of the core sample 1200. In another example, a first receptacle 1202 can have a partial arc length equal to about 1 / 2 of the circumference of the core sample and a second receptacle 1206 can have a partial arc length equal to about 1 / 2 of the circumference of the core sample.

[0154] FIGS. 13A and 13B are schematic cross-sectional views of an example process for capturing a cylindrical surface of a core sample. FIG. 13 A depicts a first image capture orientation 1300 of a core sample 1302. The core sample is retained by a first receptacle 1304 having a first partial arc length, e.g., equal to about 1 / 2 of the circumference of the core sample, to expose a first surface of the core sample.

[0155] Imaging data is captured by imaging sensors positioned at different angles of orientation with respect to the first exposed surface 1301 and corresponding to imaging positions of the imaging sensor receiving assembly, e.g., as described with reference to FIG.

[0156] 1. As depicted in FIG. 13A, cameras, e.g., camera 1305, at imaging positions A, B, and C each have a different field of view of the first surface of the core sample. In some implementations, the fields of view of the respective cameras can have overlapping portions, e.g., where more than one camera captures a location on the surface of the core sample. For example, a field of view of a camera at imaging position A overlaps with a field of view of a camera at imaging position B.

[0157] In some implementations, the imaging data is captured by each of cameras at imaging positions A, B, and C simultaneously where the cameras at imaging positions A, B, and C capture imaging data of the first surface of the core sample 1302 simultaneously along the Attorney Docket No. 48231 -0025W01

[0158] length of the core sample as the imaging apparatus translates along the length of the core sample.

[0159] In some implementations, the imaging data is captured sequentially by cameras at imaging positions A, B, and C, where core imaging system sequentially captures respective imaging data from the respective angle of orientation along the length of the core sample 1302 while the imaging apparatus is translated along the length of the core sample. In some instances of sequential imaging, a same camera can be positioned at each of the respective imaging locations A, B, and C or where separate cameras can be used to capture the imaging data at respective imaging locations A, B, and C.

[0160] FIG. 13B depicts a second image capture orientation 1306 of the core sample. The core sample is retained by a second receptacle 1308 having a second partial arc length, e.g., equal to about 1 / 3 of the circumference of the core sample, to expose a second surface of the core sample. The second surface can be exposed, for example, after rotating the core sample by the core rotation mechanism.

[0161] As depicted in FIG. 13B, cameras at imaging positions D, E, and F each have a different field of view of the second exposed surface 1303 of the core sample 1302. In some implementations, the imaging data is captured by each of cameras at imaging positions D, E, and F simultaneously where the cameras at imaging positions D, E, and F capture imaging data of the second surface of the core sample simultaneously along the length of the core sample as the imaging apparatus translates along the length of the core sample.

[0162] In some implementations, the imaging data is captured sequentially by cameras at imaging positions D, E, and F, where core imaging system sequentially captures respective imaging data from the respective angle of orientation along the length of the core sample while the imaging apparatus is translated along the length of the core sample. In some instances of sequential imaging, a same camera can be positioned at each of the respective imaging locations D, E, and F or where separate cameras can be used to capture the imaging data at respective imaging locations D, E, F.

[0163] In some implementations, imaging positions A, B, and C correspond to imaging positions D, E, and F, respectively. In some implementations, some or all of imaging positions A, B, and C can be different imaging positions from imaging positions D, E, and F, Attorney Docket No. 48231 -0025W01

[0164] e.g., as least one of A, B, and C is at a different angle of orientation with respect to the imaging region than D, E, and F.

[0165] In some implementations, an imaging sensor, e.g., a camera of a mobile device, is used to capture imaging data at multiple angles of orientation with respect to the core sample by coupling the imaging device at different imaging locations on the imaging sensor receiving assembly. In some instances, a user can position the imaging sensor at each imaging location of the multiple imaging locations to capture imaging data from each of the different angles of orientation. FIG. 14 depicts a process for capturing a cylindrical surface of a core sample.

[0166] As depicted in the example process of FIG. 14, the core imaging system collects, by imaging sensor 1400 aligned in a first imaging position A with respect to the imaging region, first imaging data. The first imaging data includes multiple images captured by the imaging sensor of a first portion 1402 of the surface of the core sample 1401 along a length of the core sample, e.g., as the imaging apparatus translates along the length of the core sample.

[0167] The core imaging system collects, by the imaging sensor aligned in a second imaging position B with respect to the imaging region, second imaging data. The second imaging data includes multiple images captured by the imaging sensor of a second portion of the surface 1404 of the core sample 1401 along a length of the core sample, e.g., as the imaging apparatus translates along the length of the core sample.

[0168] In some implementations, the imaging sensor is moved from a first imaging orientation 1410 to a second imaging orientation 1412, e.g., a rotation of 180 degrees, after the first imaging data is collected and before the second imaging data is collected. A core rotation mechanism, e.g., core rotation mechanism 202 rotates the core sample from a first orientation to a second orientation. For example, a user applies manual rotatory motion to the core rotation mechanism to rotate the core sample. As described above, the rotation process can include supporting the core sample with a second receptacle and applying one or more clamping mechanisms along the length of the core sample.

[0169] The core imaging system collects, by the imaging sensor aligned in a third imaging position C with respect to the imaging region, third imaging data. The third imaging data includes multiple images captured by the imaging sensor of a third portion 1406 of the Attorney Docket No. 48231 -0025W01

[0170] surface of the core sample along a length of the core sample 1401, e.g., as the imaging apparatus translates along the length of the core sample.

[0171] The core imaging system collects, by the imaging sensor aligned in a fourth imaging position D with respect to the imaging region, fourth imaging data. The fourth imaging data includes multiple images captured by the imaging sensor of a fourth portion 1408 of the surface of the core sample along a length of the core sample 1401, e.g., as the imaging apparatus translates along the length of the core sample.

[0172] In some implementations, pixels of the images captured of a portion of the surface of the core sample overlap with pixels of the images captured of another portion of the surface of the core sample. In other words, there can be (a) overlapping pixels captured about the circumference of the core sample, (b) overlapping pixels captured along the length of the core sample, or (c) a combination of both. For example, as depicted in FIG. 14, the overlapping arcs of coverage by the imaging data captured in each imaging position indicate portions of the resulting captured images that overlap with one another.

[0173] In some implementations, core imaging system includes an encoder to measure camera position relative to core. The encoder can be a mechanical encoder tracking a position of the imaging apparatus relative to the support frame. The encoder can be an optical encoder, e.g., using the fiducial markers to track a location of the imaging apparatus relative to the support frame. The encoder can be a laser distance measurement system tracking the location of the imaging apparatus relative to the support frame.

[0174] In some implementations, the core imaging system uses the imaging data captured along the length of the core sample as reference points to track location of images captured of the core sample. For example, the core imaging system determines a position along the core sample through a stitching process of the imaging data captured.

[0175] FIG. 15 is a flow diagram of an example process 1500 for imaging a core sample, according to some embodiments. For convenience, the process 1500 will be described as being performed by a system. For example, core imaging system 102 of FIG. 1, appropriately configured, can perform the process 1500.

[0176] The system captures 1502 imaging data of a first surface of a cylindrical core sample at a first plurality of locations along a length of the cylindrical core sample. Capturing imaging data at each location of the first plurality of locations includes capturing imaging Attorney Docket No. 48231 -0025W01

[0177] data by an imaging apparatus, e.g., imaging apparatus 106, about a circumference of the cylindrical core sample, e g., core sample 114, from at least two different angular orientations of the first surface of the cylindrical core sample. In some implementations, imaging data of the first surface of the core sample is captured from the different angular orientations simultaneously, e.g., by a respective imaging sensor positioned at each angular orientation. In some implementations, imaging data of the first surface of the core sample is captured from the different angular orientations sequentially, e.g., by one imaging sensor positioned at each of the angular orientations in turn.

[0178] In some implementations, the system includes a user interface, e.g., a user interface in an application environment displayable on a user device. The user interface can be configured to guide a user operating the system to capture the imaging data. For example, the user interface can guide the user with respect to one or more of focus, exposure, image quality, and speed / overlap of the captured images of the imaging data. The user interface can be configured to flag particular regions of the core sample for further image collection, e.g., to correct for error in the image collection and / or to capture additional detail for a region of the core sample.

[0179] The system rotates 1504, by a rotation mechanism, the cylindrical core sample to expose a second surface of the cylindrical core sample. For example, the rotation mechanism 202 can be actuated, e.g., manually by a user or automatically / semi-automatically, to rotate the core sample 208 to expose a second surface of the core sample. As described above with reference to FIG. 2, the rotation mechanism 202 can include a second receptacle 214 to support the core sample during the rotation of the core sample and to support the core sample during an image capture process of a second exposed surface. Rotation clamping mechanisms, e g., clamping mechanism 216, can secure the first receptacle 210 and second receptacle 214 about the circumference of the core sample 208. In some instances, the rotation clamping mechanisms include a handhold or other grip component for a user to perform the rotation using the rotation mechanism 202.

[0180] The system captures 1506 imaging data of the second surface of a cylindrical core sample at a second plurality of locations along the length of the cylindrical core sample, where capturing imaging data at each location of the second plurality of locations includes capturing imaging data by the imaging apparatus about the circumference of the cylindrical Attorney Docket No. 48231 -0025W01

[0181] core sample from at least two different angular orientations of the second surface of the cylindrical core sample. In some implementations, imaging data of the second surface of the core sample is captured from the different angular orientations simultaneously, e.g., by a respective imaging sensor positioned at each angular orientation. In some implementations, imaging data of the second surface of the core sample is captured from the different angular orientations sequentially, e.g., by one imaging sensor positioned at each of the angular orientations in turn.

[0182] In some implementations, the core imaging system captures imaging data of first and second surfaces of the core sample by translating the imaging apparatus along the length of the core sample. As noted above, the core sample can be intact, e.g., have a length as extracted from the bore hole, or in extended sub-portions. FIG. 16 is a flow diagram of an example process 1600 for imaging a core sample, according to some embodiments. For convenience, the process 1600 will be described as being performed by a system. For example, core imaging system 102 of FIG. 1, appropriately configured, can perform the process 1600. Although described in process 1600 as imaging a first surface of a core sample, the process 1600 can be applied to imaging a second surface of a core sample.

[0183] The system aligns 1602 the imaging apparatus at a location of multiple locations along a support frame retaining the core in a first portion exposing a first surface of the core sample. In some implementations, the system provides guidance, e.g., audio and / or visual indicators, in a user interface in an application environment displayed on a user device instructions to assist a user to manually translate the imaging apparatus to the location. The system can use the fiduciary markers to determine a location of the imaging apparatus with respect to the support frame. For example, the system can identify, through imaging data captured by an imaging sensor of the imaging apparatus, one or more fiduciary markers on the support frame and determine, from the one or more fiduciary markers, an absolute or relative location of the imaging apparatus.

[0184] The system 1604 captures, by an image sensor retained by a housing of the imaging apparatus at a first angular orientation with respect to the first surface of the core, imaging data of a portion of the first surface of the core sample. In some examples, a camera of a mobile phone is retained by an imaging sensor receiving assembly of the imaging apparatus and aligned to capture the portion of the surface of the core sample in a field of view of the Attorney Docket No. 48231 -0025W01

[0185] camera from a first angular orientation. The image sensor can be configured to capture imaging data, e.g., one or more frames of video or image(s), at the location.

[0186] The system translates 1606 the imaging apparatus to an updated location of the plurality of locations along the support frame. The imaging apparatus can be translated continuously along the support frame with respect to the core sample, where a speed of translation is set based in part on an image capture rate, e.g., frame rate, of the camera. In some implementations, a strobe light can be utilized by the imaging apparatus to assist in capture of imaging data.

[0187] The system captures 1608, by the image sensor, imaging data of an updated portion of the first surface of the core sample. A field of view of the camera at the update location can overlap with the field of view of the camera at the previous location such that the imaging data of the updated portion overlaps with the imaging data of the previous portion of the surface of the core sample. For example, imaging data captured of adjacent locations can include pixels that cover overlapping portions of the surface of the core. The field of view of subsequent image frames of the camera can be adjacent to the previous field of view to allow continuous image coverage without overlap.

[0188] In some implementations, in instances in which multiple imaging sensors at different angular orientations capture imaging data simultaneously as the imaging apparatus translates, the system can synchronize image capture by the multiple imaging sensors. For example, the system can use a wired or wireless synchronization of the cameras of multiple mobile devices to capture synchronous imaging data from multiple angular orientations. The system can use image overlap and stitching algorithms to enable consistency in the composite image despite potentially inconsistent movement speed along core sample axis by the translation mechanism.

[0189] In some implementations, the system generates a composite image of the core sample surface using image stitching. The composite image can be generated from the imaging data, e.g., using pixel data from multiple images captured, where the composite image is generated from less than the total imaging data captured. For example, the overlapping pixels between adjacent images of the surface of the core sample can be discarded, such that the volume of data transmitted from the system for the composite image requires less bandwidth that the bandwidth required for transmitting all the captured imaging data. Attorney Docket No. 48231 -0025W01

[0190] FIG. 17 is a flow diagram of an example process 1700 for imaging a core sample, according to some embodiments. For convenience, the process 1700 will be described as being performed by a system. For example, core imaging system 102 of FIG. 1, appropriately configured, can perform the process 1700.

[0191] The system generates 1702, from the imaging data of the first surface and the imaging data of the second surface, a composite image of the surface of the core sample. Generating the composite image includes, for each image of the imaging data of the first surface and the second surface, determining a first subset of pixels of the image that matches a second subset of pixels of another image of the imaging data. In some implementations, the composite image only including one of the first or second subsets of pixels in the composite image, e.g., the system discards the duplicate pixels. The system can use stitching algorithms that leverage known cylindrical geometry of the core sample to correct for lens distortions.

[0192] The system provides 1704 the composite image of the core sample to a remote server. For example, the imaging apparatus 106 can provide the composite image over network 130 to a composite image database 132 hosted by cloud-based server 128.

[0193] The composite image can be a two-dimensional (2D) visualization of the three-dimensional (3D) cylindrical surface of the core sample. The composite image can be used to generate a 3D reconstruction of the surface of the core sample. In some instances, the composite image can correct for distortions of known imaging systems.

[0194] In some implementations, the system generates the composite image using imaging data captured by cameras of multiple different mobile devices or by multiple different image sensors. The system can pre-process and stitch the imaging data from multiple cameras into a composite imaging using a single onsite processor. For example, in instances where two or more mobile devices are used to capture imaging data, one of the mobile devices can be designated to perform the composite image generation.

[0195] In some implementations, the system generates composite images using imaging data from different types of image sensors. For example, the system can generate a composite image from imaging data captured by a camera of a mobile device and imaging data captured by a fluorescence image sensor. In some implementations, the system can enrich the composite image with additional data. For example, a user can provide metadata, e.g., Attorney Docket No. 48231 -0025W01

[0196] metadata 126, including, e.g., core location, depth of core sample retrieval, core orientation with respect to the retrieval geographical coordinates, and the like.

[0197] The subject matter and the actions and operations described in this specification can be implemented in digital electronic circuitry, in tangibly-embodied computer software or firmware, in computer hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. The subject matter and the actions and operations described in this specification can be implemented as or in one or more computer programs, e.g., one or more modules of computer program instructions, encoded on a computer program carrier, for execution by, or to control the operation of, data processing apparatus. The carrier can be a tangible non-transitory computer storage medium. Alternatively or in addition, the carrier can be an artificially-generated propagated signal, e g., a machine-generated electrical, optical, or electromagnetic signal, which is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. The computer storage medium can be or be part of a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them. A computer storage medium is not a propagated signal.

[0198] The term “data processing apparatus” encompasses all kinds of apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers. Data processing apparatus can include special-purpose logic circuitry, e.g., an FPGA (field programmable gate array), an ASIC (application-specific integrated circuit) , or a GPU (graphics processing unit). The apparatus can also include, in addition to hardware, code that creates an execution environment for computer programs, e g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them.

[0199] A computer program can be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages; and it can be deployed in any form, including as a stand-alone program, e.g., as an app, or as a software module, component, engine, subroutine, or other unit suitable for executing in a computing environment, which environment may include one or more computers interconnected by a data communication network in one or more locations. Attorney Docket No. 48231 -0025W01

[0200] A computer program may, but need not, correspond to a fde in a file system. A computer program can be stored in a portion of a file that holds other programs or data, e.g., one or more scripts stored in a markup language document, in a single file dedicated to the program in question, or in multiple coordinated files, e.g., files that store one or more modules, sub-programs, or portions of code.

[0201] The processes and logic flows described in this specification can be performed by one or more computers executing one or more computer programs to perform operations by operating on input data and generating output. The processes and logic flows can also be performed by special-purpose logic circuitry, e.g., an FPGA, an ASIC, or a GPU, or by a combination of special-purpose logic circuitry and one or more programmed computers.

[0202] Computers suitable for the execution of a computer program can be based on general or special-purpose microprocessors or microcontrollers or a combination of them, or any other kind of central processing unit. Generally, a central processing unit will receive instructions and data from a read-only memory or a random access memory or both. The essential elements of a computer are a central processing unit for executing instructions and one or more memory devices for storing instructions and data. The central processing unit and the memory can be supplemented by, or incorporated in, special-purpose logic circuitry.

[0203] Generally, a computer will also include, or be operatively coupled to, one or more mass storage devices, and be configured to receive data from or transfer data to the mass storage devices. However, a computer need not have such devices. Moreover, a computer can be embedded in another device, e.g., a mobile telephone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a portable storage device, e.g., a universal serial bus (USB) flash drive, to name just a few.

[0204] To provide for interaction with a user, the subject matter described in this specification can be implemented on one or more computers having, or configured to communicate with, a display device, e g., a LCD (liquid crystal display) monitor, or a virtual-reality (VR) or augmented-reality (AR) display, for displaying information to the user, and an input device by which the user can provide input to the computer, e.g., a keyboard and a pointing device, e.g., a mouse, a trackball or touchpad. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback and responses provided to Attorney Docket No. 48231 -0025W01

[0205] the user can be any form of sensory feedback, e.g., visual, auditory, speech, or tactile feedback or responses; and input from the user can be received in any form, including acoustic, speech, tactile, or eye tracking input, including touch motion or gestures, or kinetic motion or gestures or orientation motion or gestures. In addition, a computer can interact with a user by sending documents to and receiving documents from a device that is used by the user; for example, by sending web pages to a web browser on a user’s device in response to requests received from the web browser, or by interacting with an app running on a user device, e.g., on a smartphone or electronic tablet. Also, a computer can interact with a user by sending text messages or other forms of message to a personal device, e.g., a smartphone that is running a messaging application, and receiving responsive messages from the user in return.

[0206] This specification uses the term “configured to” in connection with systems, apparatus, and computer program components. That a system of one or more computers is configured to perform particular operations or actions means that the system has installed on it software, firmware, hardware, or a combination of them that in operation cause the system to perform the operations or actions. That one or more computer programs is configured to perform particular operations or actions means that the one or more programs include instructions that, when executed by data processing apparatus, cause the apparatus to perform the operations or actions. That special-purpose logic circuitry is configured to perform particular operations or actions means that the circuitry has electronic logic that performs the operations or actions.

[0207] The subject matter described in this specification can be implemented in a computing system that includes a back-end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front-end component, e.g., a client computer having a graphical user interface, a web browser, or an app through which a user can interact with an implementation of the subject matter described in this specification, or any combination of one or more such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN) and a wide area network (WAN), e.g., the Internet. Attorney Docket No. 48231 -0025W01

[0208] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. In some implementations, a server transmits data, e.g., an HTML page, to a user device, e.g., for purposes of displaying data to and receiving user input from a user interacting with the device, which acts as a client. Data generated at the user device, e.g., a result of the user interaction, can be received at the server from the device.

[0209] In addition to the embodiments of the attached claims and the embodiments described above, the following numbered embodiments are also innovative.

[0210] Embodiment l is a geological specimen imaging system comprising:

[0211] a support frame;

[0212] a first receptacle supported by the support frame and configured to retain a geological specimen in a first orientation to expose a first curved surface of the geological specimen; and

[0213] a translational imaging apparatus comprising

[0214] a housing including a first opening and a second opening configured to receive at least a portion of the geological specimen within the housing;

[0215] a translation mechanism configured to translate the imaging apparatus along a length of the geological specimen retained by the first receptacle supported by the support frame;

[0216] an illumination assembly arranged with respect to the housing comprising at least one light source configured to illuminate an imaging region; and

[0217] an imaging sensor receiving assembly arranged with respect to the housing and configured to retain an imaging sensor at each of a plurality of locations, wherein the imaging sensor at each location is aligned to capture a portion of the imaging region within a field of view of the imaging sensor.

[0218] Embodiment 2 is the system of embodiment 1, further comprising a controller in data communication with the imaging sensor and configured to perform the operations comprising:

[0219] capturing imaging data of the first curved surface of the geological specimen at a first Attorney Docket No. 48231 -0025W01

[0220] plurality of locations along the length of the geological specimen,

[0221] wherein capturing imaging data at each location of the first plurality of locations comprises capturing imaging data by the imaging apparatus about a circumference of the geological specimen from at least two different angular orientations of the first curved surface of the geological specimen;

[0222] rotating, by a rotation mechanism, the geological specimen to a second orientation to expose a second curved surface of the geological specimen; and

[0223] capturing imaging data of the second curved surface of the geological specimen at a second plurality of locations along the length of the geological specimen,

[0224] wherein capturing imaging data at each location of the second plurality of locations comprises capturing imaging data by the imaging apparatus about the circumference of the geological specimen from at least two different angular orientations of the second curved surface of the geological specimen.

[0225] Embodiment 3 is the system of embodiments 1 or 2, wherein the imaging sensor receiving assembly comprises a plurality of cradles configured to optionally retain an imaging sensor or a light shield at each of the plurality of locations.

[0226] Embodiment 4 is the system of embodiments 1 or 2, wherein the imaging sensor receiving assembly comprises a cradle to couple the imaging sensor to the housing to capture, within the field of view of the imaging sensor, at least a portion of the imaging region, and

[0227] wherein the controller is affixed to the housing of the imaging apparatus.

[0228] Embodiment 5 is the system of any one of the preceding embodiments, wherein the imaging region includes a portion of the first curved surface of a geological specimen when the geological specimen is retained within the housing of the imaging apparatus.

[0229] Embodiment 6 is the system of any one of the preceding embodiments, wherein the plurality of locations of the imaging sensor receiving assembly comprises at least two different angles of orientation with respect to the first curved surface of the geological specimen within the imaging region.

[0230] Embodiment 7 is the system of embodiment 6, wherein the at least two different angles of orientation comprise overlapping fields of view of the imaging sensor located at each of the at least two different angles of orientation. Attorney Docket No. 48231 -0025W01

[0231] Embodiment 8 is the system of any one of the preceding embodiments, wherein the illumination assembly comprises a plurality of light sources laterally offset from the imaging region.

[0232] Embodiment 9 is the system of embodiment 8, wherein the plurality of light sources are arranged to produce low-angle illumination of the imaging region including less than a threshold reflection.

[0233] Embodiment 10 is the system of any one of the preceding embodiments, wherein the illumination assembly is configured to illuminate the imaging region from a different vantage point than the imaging sensor.

[0234] Embodiment 11 is the system of any one of the preceding embodiments, wherein the at least one light source comprises a visible light source.

[0235] Embodiment 12 is the system of any one of the preceding embodiments, wherein the at least one light source comprises a structured light source.

[0236] Embodiment 13 is the system of any one of the preceding embodiments, wherein the support frame further comprises:

[0237] a plurality of fiduciary markers along the length of the support frame, at least a subset of the plurality of fiduciary markers located within a field of view of an imaging sensor retained by the imaging sensor receiving assembly.

[0238] Embodiment 14 is the system of any one of the preceding embodiments, further comprising a rotation mechanism comprising

[0239] a clamping mechanism; and

[0240] a second receptacle,

[0241] wherein the rotation mechanism is configured to rotate the geological specimen from the first orientation to a second orientation about a rotational axis of the geological specimen, and

[0242] wherein the first orientation exposes the first curved surface of the geological specimen and the second orientation exposes a second curved surface of the geological specimen within the imaging region.

[0243] Embodiment 15 is the system of embodiment 14, wherein the first curved surface includes a first curvature of cylindrical surface of the geological specimen and the second curved surface includes a second curvature of a second different portion of the cylindrical Attorney Docket No. 48231 -0025W01

[0244] surface of the geological specimen.

[0245] Embodiment 16 is the system of embodiments 14 or 15, wherein the first curved surface and the second curved surface each comprise a radial length extending at least 120 degrees about a circumference of the geological specimen.

[0246] Embodiment 17 is the system of any of one of embodiments 14 to 16, wherein the first curved surface and the second curved surface together comprise 360 degrees about the circumference of the geological specimen.

[0247] Embodiment 18 is the system of any one of the preceding embodiments, wherein a length about a circumference of the first curved surface comprises at least 1 / 3 of the circumference of the geological specimen.

[0248] Embodiment 19 is the system of any one of the preceding embodiments, wherein the translation mechanism is configured to translate the imaging apparatus along the length of the geological specimen during continuous image capture by an imaging sensor retained by the imaging sensor receiving assembly.

[0249] Embodiment 20 is the system of any one of the preceding embodiments, wherein the translation mechanism is configured to translate the imaging apparatus by a translation distance at least a length of the geological specimen.

[0250] Embodiment 21 is a method comprising:

[0251] capturing imaging data of a first surface of a core sample at a first plurality of locations along a length of the core sample,

[0252] wherein capturing imaging data at each location of the first plurality of locations comprises capturing imaging data by an imaging apparatus about a circumference of the core sample from at least two different angular orientations of the first surface of the core sample;

[0253] rotating, by a rotation mechanism, the core sample to expose a second surface of the core sample; and

[0254] capturing imaging data of the second surface of a core sample at a second plurality of locations along the length of the core sample,

[0255] wherein capturing imaging data at each location of the second plurality of locations comprises capturing imaging data by the imaging apparatus about the circumference of the core sample from at least two different angular orientations of the Attorney Docket No. 48231 -0025W01

[0256] second surface of the core sample.

[0257] Embodiment 22 is the method of embodiment 21, wherein capturing imaging data of the first surface of the core sample at the first plurality of locations comprises:

[0258] aligning the imaging apparatus at each location of the first plurality of locations along a support frame retaining the core sample in a first position, the first position exposing the first surface of the core sample;

[0259] capturing, by an image sensor retained by a housing of the imaging apparatus at a first angular orientation with respect to the first surface of the core sample, imaging data of a portion of the first surface of the core sample;

[0260] translating the imaging apparatus to an updated location of the first plurality of locations along the support frame; and

[0261] capturing, by the image sensor, imaging data of an updated portion of the first surface of the core sample.

[0262] Embodiment 23 is the method of embodiments 21 or 22, further comprising: generating, from the imaging data of the first surface and the imaging data of the second surface, a composite image of a circumference of the core sample; and

[0263] providing by the imaging apparatus to a remote server, the composite image of the core sample.

[0264] Embodiment 24 is the method of embodiment 23, wherein providing the composite image comprises providing only the composite image and not providing the imaging data of the first surface and the imaging data of the second surface.

[0265] Embodiment 25 is the method of embodiments 23 or 24, wherein generating the composite image comprises, for each image of the imaging data of the first surface and the second surface:

[0266] determining a first subset of pixels of the image that matches a second subset of pixels of another image of the imaging data; and

[0267] only including one of the first or second subsets of pixels in the composite image. Embodiment 26 is the method of any one of embodiments 23 to 25, wherein capturing the imaging data comprises capturing imaging data by cameras of two or more mobile devices, and

[0268] wherein generating the composite image comprises stitching, from the cameras of the Attorney Docket No. 48231 -0025W01

[0269] two or more mobile devices and by a processor of one of the two or more mobile devices, imaging data from the cameras of the two or more mobile devices.

[0270] Embodiments 27 is the method of any one of embodiments 21 to 26, further comprising:

[0271] annotating the composite image with core metadata including core location, depth, geological coordinates, imaging parameters, or any combination thereof.

[0272] Embodiment 28 is one or more non-transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations of the method embodiments 21-27.

[0273] Embodiment 29 is a system comprising:

[0274] one or more computers and one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations of the method embodiments 21-27.

[0275] Embodiment 30 is the system of embodiment 29, wherein the one or more computers comprise one personal computing device, and the one personal computing device is a user device.

[0276] While this specification contains many specific implementation details, these should not be construed as limitations on the scope of what is being claimed, which is defined by the claims themselves, but rather as descriptions of features that may be specific to particular implementations of particular inventions. Certain features that are described in this specification in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially be claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claim may be directed to a subcombination or variation of a subcombination.

[0277] Similarly, while operations are depicted in the drawings and recited in the claims in a particular order, this by itself should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking Attorney Docket No. 48231 -0025W01

[0278] and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0279] Particular implementations of the subject matter have been described. Other implementations are within the scope of the following claims. For example, the actions recited in the claims can be performed in a different order and still achieve desirable results. As one example, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some cases, multitasking and parallel processing may be advantageous.

[0280] What is claimed is:

Claims

Attorney Docket No. 48231 -0025W01CLAIMS1. A geological specimen imaging system comprising:a support frame;a first receptacle supported by the support frame and configured to retain a geological specimen in a first orientation to expose a first surface of the geological specimen; anda translational imaging apparatus comprisinga housing including a first opening and a second opening configured to receive at least a portion of the geological specimen within the housing;a translation mechanism configured to translate the imaging apparatus along a length of the geological specimen retained by the first receptacle supported by the support frame;an illumination assembly arranged with respect to the housing comprising at least one light source configured to illuminate an imaging region; andan imaging sensor receiving assembly arranged with respect to the housing and configured to retain an imaging sensor at each of a plurality of locations, wherein the imaging sensor at each location is aligned to capture a portion of the imaging region within a field of view of the imaging sensor.Attorney Docket No. 48231 -0025W012. The system of claim 1, further comprising a controller in data communication with the imaging sensor and configured to perform the operations comprising:capturing imaging data of the first surface of the geological specimen at a first plurality of locations along the length of the geological specimen,wherein capturing imaging data at each location of the first plurality of locations comprises capturing imaging data by the imaging apparatus across the geological specimen from at least two different orientations of the first surface of the geological specimen;rotating, by a rotation mechanism, the geological specimen to a second orientation to expose a second surface of the geological specimen; andcapturing imaging data of the second surface of the geological specimen at a second plurality of locations along the length of the geological specimen,wherein capturing imaging data at each location of the second plurality of locations comprises capturing imaging data by the imaging apparatus of the second surface of the geological specimen from at least two different orientations of the second surface of the geological specimen.

3. The system of claim 1, wherein the imaging sensor receiving assembly comprises a plurality of cradles configured to optionally retain an imaging sensor or a light shield at each of the plurality of locations.

4. The system of claim 2, wherein the imaging sensor receiving assembly comprises a cradle to couple the imaging sensor to the housing to capture, within the field of view of the imaging sensor, at least a portion of the imaging region, andwherein the controller is affixed to the housing of the imaging apparatus..

5. The system of claim 1, wherein the imaging region includes a portion of the first surface of a geological specimen when the geological specimen is retained within the housing of the imaging apparatus.

6. The system of claim 5, wherein the plurality of locations of the imaging sensor receiving assembly comprises at least two different orientations with respect to the first surface of the geological specimen within the imaging region.Attorney Docket No. 48231 -0025W017. The system of claim 6, wherein the at least two different orientations comprise overlapping fields of view of the imaging sensor located at each of the at least two different orientations.

8. The system of claim 1, wherein the illumination assembly comprises a plurality of light sources laterally offset from the imaging region.

9. The system of claim 8, wherein the plurality of light sources are arranged to produce low-angle illumination of the imaging region including less than a threshold reflection.

10. The system of claim 1, wherein the illumination assembly is configured to illuminate the imaging region from a different vantage point than the imaging sensor.

11. The system of claim 1, wherein the at least one light source comprises a visible light source.

12. The system of claim 1, wherein the at least one light source comprises a structured light source.

13. The system of claim 1, wherein the support frame further comprises:a plurality of fiduciary markers along the length of the support frame, at least a subset of the plurality of fiduciary markers located within a field of view of an imaging sensor retained by the imaging sensor receiving assembly.

14. The system of claim 1, further comprising a rotation mechanism comprisinga clamping mechanism; anda second receptacle,wherein the rotation mechanism is configured to rotate the geological specimen from the first orientation to a second orientation about a rotational axis of the geological specimen, andwherein the first orientation exposes the first surface of the geological specimen and the second orientation exposes a second surface of the geological specimen within the imaging region.Attorney Docket No. 48231 -0025W0115. The system of claim 14, wherein the first surface includes a first curvature of cylindrical surface of the geological specimen and the second surface includes a second curvature of a second different portion of the cylindrical surface of the geological specimen.

16. The system of claim 15, wherein the first surface and the second surface each comprise a radial length extending at least 120 degrees about a circumference of the geological specimen.

17. The system of claim 16, wherein the first surface and the second surface together comprise 360 degrees about the circumference of the geological specimen.

18. The system of claim 1, wherein a length about a circumference of the first surface comprises at least 1 / 3 of the circumference of the geological specimen.

19. The system of claim 1, wherein the translation mechanism is configured to translate the imaging apparatus along the length of the geological specimen during continuous image capture by an imaging sensor retained by the imaging sensor receiving assembly.

20. The system of claim 1, wherein the translation mechanism is configured to translate the imaging apparatus by a translation distance at least a length of the geological specimen.

21. A method comprising:capturing imaging data of a first surface of a core sample at a first plurality of locations along a length of the core sample,wherein capturing imaging data at each location of the first plurality of locations comprises capturing imaging data by an imaging apparatus about a core sample from at least two different orientations of the first surface of the core sample;rotating, by a rotation mechanism, the core sample to expose a second surface of the core sample; andcapturing imaging data of the second surface of a core sample at a second plurality of locations along the length of the core sample,wherein capturing imaging data at each location of the second plurality of locations comprises capturing imaging data by the imaging apparatus about the core sample from at least two different orientations of the second surface of the core sample.Attorney Docket No. 48231 -0025W0122. The method of claim 21, wherein capturing imaging data of the first surface of the core sample at the first plurality of locations comprises:aligning the imaging apparatus at each location of the first plurality of locations along a support frame retaining the core sample in a first position, the first position exposing the first surface of the core sample;capturing, by an image sensor retained by a housing of the imaging apparatus at a first angular orientation with respect to the first surface of the core sample, imaging data of a portion of the first surface of the core sample;translating the imaging apparatus to an updated location of the first plurality of locations along the support frame; andcapturing, by the image sensor, imaging data of an updated portion of the first surface of the core sample.

23. The method of claim 22, further comprising:generating, from the imaging data of the first surface and the imaging data of the second surface, a composite image of the core sample; andproviding by the imaging apparatus to a remote server, the composite image of the core sample.

24. The method of claim 23, wherein providing the composite image comprises providing only the composite image and not providing the imaging data of the first surface and the imaging data of the second surface.

25. The method of claim 23, wherein generating the composite image comprises, for each image of the imaging data of the first surface and the second surface:determining a first subset of pixels of the image that matches a second subset of pixels of another image of the imaging data; andonly including one of the first or second subsets of pixels in the composite image.Attorney Docket No. 48231 -0025W0126. The method of claim 23, wherein capturing the imaging data comprises capturing imaging data by cameras of two or more mobile devices, andwherein generating the composite image comprises stitching, from the cameras of the two or more mobile devices and by a processor of one of the two or more mobile devices, imaging data from the cameras of the two or more mobile devices.

27. The method of claim 23, further comprising:annotating the composite image with core metadata including core location, depth, geological coordinates, imaging parameters, or any combination thereof.

28. One or more non -transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations of the method claims 21-27.

29. A system comprising:one or more computers and one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations of the method claims 21-27.

30. The system of claim 29, wherein the one or more computers comprise one personal computing device, and the one personal computing device is a user device.

Images