Abstract
AbstractPanoramic camera systems on robots exploring the surface of Mars are used to collect images of terrain and rock outcrops which they encounter along their traverse. Image mosaics from these cameras are essential in mapping the surface geology and selecting locations for analysis by other instruments on the rover's payload. 2‐D images do not truly portray the depth of field of features within an image, nor their 3‐D geometry. This paper describes a new 3‐D visualization software tool for geological analysis of Martian rover‐derived Digital Outcrop Models created using photogrammetric processing of stereo‐images using the Planetary Robotics Vision Processing tool developed for 3‐D vision processing of ExoMars PanCam and Mars 2020 Mastcam‐Z data. Digital Outcrop Models are rendered in real time in the Planetary Robotics 3‐D Viewer PRo3D, allowing scientists to roam outcrops as in a terrestrial field campaign. Digitization of point, line, and polyline features is used for measuring the physical dimensions of geological features and communicating interpretations. Dip and strike of bedding and fractures is measured by digitizing a polyline along the contact or fracture trace, through which a best fit plane is plotted. The attitude of this plane is calculated in the software. Here we apply these tools to analysis of sedimentary rock outcrops and quantification of the geometry of fracture systems encountered by the science teams of NASA's Mars Exploration Rover Opportunity and Mars Science Laboratory rover Curiosity. We show the benefits PRo3D allows for visualization and collection of geological interpretations and analyses from rover‐derived stereo‐images.
Highlights
IntroductionOne of the principle objectives for past and current rover missions to Mars has been to characterize the geology of sedimentary rocks exposed at the Martian surface to identify evidence for long lasting water activity and the existence of habitable environments at some point in the planet’s history (Arvidson, 2016; Arvidson et al, 2011, 2014; Clark et al, 2016; Crumpler et al, 2011, 2015; Edgar et al, 2014, 2017; Grotzinger et al, 2005, 2006, 2012, 2014, 2015; Metz et al, 2009; Rice et al, 2017; Ruff et al, 2011; Siebach et al, 2014; Squyres et al, 2004a, 2004b, 2008; Stack et al, 2016; Vaniman et al, 2014; Vasavada et al, 2014)
This paper describes a new 3-D visualization software tool for geological analysis of Martian rover-derived Digital Outcrop Models created using photogrammetric processing of stereo-images using the Planetary Robotics Vision Processing tool developed for 3-D vision processing of ExoMars PanCam and Mars 2020 mast camera (Mastcam)-Z data
Four localities visited by the Mars Exploration Rover (MER) and Mars Science Laboratory (MSL) missions were selected as case studies to test the application of Planetary Robotic 3-D Viewer (PRo3D) and the incorporated geological analysis tools: Yellowknife Bay (YKB; Figure 2a), visited by the MSL rover Curiosity between sols 54 and 330; Bridger Basin, which was visited between sols 1082 and 1110 by Curiosity (Figure 2b); Garden City (Figure 2c) visited by Curiosity during sols 918–926; and Victoria crater, visited by the MER rover Opportunity between sols 952 and 1634 (Figure 2d)
Summary
Four localities visited by the MER and MSL missions were selected as case studies to test the application of PRo3D and the incorporated geological analysis tools: Yellowknife Bay (YKB; Figure 2a), visited by the MSL rover Curiosity between sols 54 and 330; Bridger Basin, which was visited between sols 1082 and 1110 by Curiosity (Figure 2b); Garden City (Figure 2c) visited by Curiosity during sols 918–926; and Victoria crater, visited by the MER rover Opportunity between sols 952 and 1634 (Figure 2d). We present some examples of the geological analyses which are possible in PRo3D. All analyses follow the relevant steps of a workflow comparable to that used for field investigation of outcrops (Figure S3). This involves first exploring the outcrop, identifying individual units and their boundaries, before taking relevant measurements and making textural observations
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