They storyboards are amazingly cool and really showcase the love and care that went into the Pilot, although I question whether 20-year-olds in the 90s used expressions like "Not hardly."
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While the DVDs are indeed a video quality disappointment -- I find my upscaling and deinterlacing techniques seem to work a lot better with the Mill Creek set than the Universal set. The Universal set episodes constantly filled the screen with scanlines from deinterlacing errors. The Mill Creek set looks clearer, and while the detail has diminished, the detail in the earlier release was obscured by horizontal lines anyway. My blu-ray player upscales the image to a 1080p resolution with a subtle sharpening that makes it work -- well, mostly. I generally dim the backlight on my TV significantly, but when I put it up to full, the episodes looked washed out and overexposed.
It looks like a 480 image upscaled to the glorious heights of totally adequate.