High Resolution Stereo Camera Research Articles

The Multi-Temporal Database of Planetary Image Data (MUTED): A web-based tool for studying dynamic Mars

Multi-temporal spacecraft observations are key to detect and understand surface changes and time-critical processes on Mars. Since the 1970s, the number of orbital observations of Mars has increased to over one million images. The observations have revealed that the surface of Mars is changing due to exogenic processes, including eolian activity, mass movement, seasonal ice and frost cover, and crater-forming impacts. The increasing number of observations highlights the importance of efficient and convenient tools for planetary image data management and change detection analyses. To support the identification of surface changes we developed the Multi-Temporal Database of Planetary Image Data (MUTED), which is accessible at “http://muted.wwu.de”. The database enables scientists to quickly identify the spatial and multi-temporal coverage of planetary image data from Mars. As a basis for various change detection analyses, the location, number, and time range of acquisitions of overlapping images taken by the Viking Orbiter (VO), the Mars Orbiter Camera (MOC), the High Resolution Stereo Camera (HRSC), the Thermal Emission Imaging Instrument (THEMIS), the High Resolution Imaging Science Experiment (HiRISE), the Compact Reconnaissance Imaging Spectrometer of Mars (CRISM) and the Context Camera (CTX) as well as future instruments (e.g., Colour and Stereo Surface Imaging System (CaSSIS)) can be identified. The database will assist and optimize image data searches to support the analysis and understanding of short-term, seasonal, and long-term processes at the surface and in the atmosphere of Mars. To demonstrate the capability and scientific potential of the database, we analyzed the occurrence of dark slope streaks and observed their formation within a time interval of <∼5 days in different regions on Mars.

A Novel Pixel-Level Image Matching Method for Mars Express HRSC Linear Pushbroom Imagery Using Approximate Orthophotos

Mars topographic data, such as digital orthophoto maps (DOMs) and digital elevation models (DEMs) are essential to planetary science and exploration missions. The main objective of our study is to generate a higher resolution DEM using the Mars Express (MEX) High Resolution Stereo Camera (HRSC). This paper presents a novel pixel-level image matching method for HRSC linear pushbroom imagery. We suggest that image matching firstly be carried out on the approximate orthophotos. Then, the matched points are converted to the original images for forward intersection. The proposed method adopts some practical strategies such as hierarchical image matching and normalized cross-correlation (NCC). The characteristic strategies are: (1) the generation of a DEM and a DOM at each pyramid level; (2) the use of the generated DEM at the current pyramid level as reference data to generate approximate orthophotos at the next pyramid level; and (3) the use of the ground point coordinates of orthophotos to estimate the approximate positions of conjugate points. Hence, the refined DEM is used in the image rectification process, and pixel coordinate displacements of conjugate points on the approximate orthophotos will become smaller and smaller. Four experimental datasets acquired by the HRSC were used to verify the proposed method. The generated DEM was compared with the HRSC Level-4 DEM product. Experimental results demonstrate that an accurate and precise Mars DEM can be generated with the proposed method. The approximate positions of the conjugate points can be estimated with an accuracy of three pixels at the original image resolution level. Though slight systematic errors of about two pixels were observed, the generated DEM results show good consistency with the HRSC Level-4 DEM.

Design and Calibration of a Specialized Polydioptric Camera Rig

It has been observed in the nature that all creatures have evolved highly exclusive sensory organs depending on their habitat and the form of resources availability for their survival. In this project, a novel omnidirectional camera rig, inspired from natural vision sensors, is proposed. It is exclusively designed to operate for highly specified tasks in the field of mobile robotics. Navigation problems on uneven terrains and detection of the moving objects while the robot is itself in motion are the core problems that omnidirectional systems tackle. The proposed omnidirectional system is a compact and a rigid vision system with dioptric cameras that provide a 360 degrees field-of-view in horizontal and vertical, with no blind spot in their site combined with a high-resolution stereo camera to monitor anterior field-of-view for a more accurate perception with depth information of the scene. Structure-from-motion algorithm is adapted and implemented to prove the design validity of the proposed camera rig and a toolbox is developed to calibrate similar systems.

COMMUNITY TOOLS FOR CARTOGRAPHIC AND PHOTOGRAMMETRIC PROCESSING OF MARS EXPRESS HRSC IMAGES

COMMUNITY TOOLS FOR CARTOGRAPHIC AND PHOTOGRAMMETRIC PROCESSING OF MARS EXPRESS HRSC IMAGES

OPTIMIZING THE DISTRIBUTION OF TIE POINTS FOR THE BUNDLE ADJUSTMENT OF HRSC IMAGE MOSAICS

Abstract. For a systematic mapping of the Martian surface, the Mars Express orbiter is equipped with a multi-line scanner: Since the beginning of 2004 the High Resolution Stereo Camera (HRSC) regularly acquires long image strips. By now more than 4,000 strips covering nearly the whole planet are available. Due to the nine channels, each with different viewing direction, and partly with different optical filters, each strip provides 3D and color information and allows the generation of digital terrain models (DTMs) and orthophotos. To map larger regions, neighboring HRSC strips can be combined to build DTM and orthophoto mosaics. The global mapping scheme Mars Chart 30 is used to define the extent of these mosaics. In order to avoid unreasonably large data volumes, each MC-30 tile is divided into two parts, combining about 90 strips each. To ensure a seamless fit of these strips, several radiometric and geometric corrections are applied in the photogrammetric process. A simultaneous bundle adjustment of all strips as a block is carried out to estimate their precise exterior orientation. Because size, position, resolution and image quality of the strips in these blocks are heterogeneous, also the quality and distribution of the tie points vary. In absence of ground control points, heights of a global terrain model are used as reference information, and for this task a regular distribution of these tie points is preferable. Besides, their total number should be limited because of computational reasons. In this paper, we present an algorithm, which optimizes the distribution of tie points under these constraints. A large number of tie points used as input is reduced without affecting the geometric stability of the block by preserving connections between strips. This stability is achieved by using a regular grid in object space and discarding, for each grid cell, points which are redundant for the block adjustment. The set of tie points, filtered by the algorithm, shows a more homogenous distribution and is considerably smaller. Used for the block adjustment, it yields results of equal quality, with significantly shorter computation time. In this work, we present experiments with MC-30 half-tile blocks, which confirm our idea for reaching a stable and faster bundle adjustment. The described method is used for the systematic processing of HRSC data.

AN ITERATIVE PIXEL-LEVEL IMAGE MATCHING METHOD FOR MARS MAPPING USING APPROXIMATE ORTHOPHOTOS

Abstract. Mars mapping is essential to the scientific research of the red planet. The special terrain characteristics of Martian surface can be used to develop the targeted image matching method. In this paper, in order to generate high resolution Mars DEM, a pixel-level image matching method for Mars orbital pushbroom images is proposed. The main strategies of our method include: (1) image matching on approximate orthophotos; (2) estimating approximate value of conjugate points by using ground point coordinates of orthophotos; (3) hierarchical image matching; (4) generating DEM and approximate orthophotos at each pyramid level; (5) fast transformation from ground points to image points for pushbroom images. The derived DEM at each pyramid level is used as reference data for the generation of approximate orthophotos at the next pyramid level. With iterative processing, the generated DEM becomes more and more accurate and a very small search window is precise enough for the determination of conjugate points. The images acquired by High Resolution Stereo Camera (HRSC) on European Mars Express were used to verify our method’s feasibility. Experiment results demonstrate that accurate DEM data can be derived with an acceptable time cost by pixel-level image matching.

A depth versus diameter scaling relationship for the best-preserved melt-bearing complex craters on Mars

We use topographic data to show that impact craters with pitted floor deposits are among the deepest on Mars. This is consistent with the interpretation of pitted materials as primary crater-fill impactite deposits emplaced during crater formation. Our database consists of 224 pitted material craters ranging in size from ∼1 to 150 km in diameter. Our measurements are based on topographic data from the Mars Orbiter Laser Altimeter (MOLA) and the High-Resolution Stereo Camera (HRSC). We have used these craters to measure the relationship between crater diameter and the initial post-formation depth. Depth was measured as maximum rim-to-floor depth, (dr), but we also report the depth measured using other definitions. The database was down-selected by refining or removing elevation measurements from “problematic” craters affected by processes and conditions that influenced their dr/D, such as pre-impact slopes/topography and later overprinting craters. We report a maximum (deepest) and mean scaling relationship of dr = (0.347 ± 0.021)D0.537 ± 0.017 and dr = (0.323 ± 0.017)D0.538 ± 0.016, respectively. Our results suggest that significant variations between previously-reported MOLA-based dr vs. D relationships may result from the inclusion of craters that: 1) are influenced by atypical processes (e.g., highly oblique impact), 2) are significantly degraded, 3) reside within high-strength regions, and 4) are transitional (partially collapsed). By taking such issues into consideration and only measuring craters with primary floor materials, we present the best estimate to date of a MOLA-based relationship of dr vs. D for the least-degraded complex craters on Mars. This can be applied to crater degradation studies and provides a useful constraint for models of complex crater formation.

Plateaus and sinuous ridges as the fingerprints of lava flow inflation in the Eastern Tharsis Plains of Mars

The Tharsis Montes rift aprons are composed of outpourings of lava from chaotic terrains to the northeast and southwest flank of each volcano. Sinuous and branching channel networks that are present on the rift aprons suggest the possibility of fluvial processes in their development, or erosion by rapidly emplaced lavas, but the style of lava flow emplacement throughout rift apron development is not clearly understood. To better characterize the style of lava emplacement and role of fluvial processes in rift apron development, we conducted morphological mapping of the Pavonis Mons southwest rift apron and the eastern Tharsis plains using images from the High Resolution Imaging Science Experiment (HiRISE), Mars Orbiter Camera (MOC), Context Camera (CTX), Thermal Emission Imaging System (THEMIS), and High Resolution Stereo Camera (HRSC) along with the Mars Orbiter Laser Altimeter (MOLA) Precision Experiment Data Records (PEDRs) and gridded data. Our approach was to: (1) search for depositional fans at the slope break between the rift apron and adjacent low slope plains; (2) determine if there is evidence that previously formed deposits might have been buried by plains units; (3) characterize the Tharsis plains morphologies east of Pavonis Mons; and (4) assess their relationship to the rift apron units. We have not identified topographically significant depositional fans, nor did we observe evidence to suggest that plains units have buried older rift apron units. Flow features associated with the rift apron are observed to continue across the slope break onto the plains. In this area, the plains are composed of a variety of small fissures and low shield vents around which broad channel-fed and tube-fed flows have been identified. We also find broad, flat-topped plateaus and sinuous ridges mixed among the channels, tubes and vents. Flat-topped plateaus and sinuous ridges are morphologies that are analogous to those observed on the coastal plain of Hawai‘i, where lava flows have advanced from the volcano's several degree flank onto the nearly zero degree coastal plain. When local volumetric flow rates are low, flow fronts tend to spread laterally and often thicken via endogenous growth, or inflation, of the sheet-like flow units. If flow advance is restricted by existing topography into narrow pathways, inflation can be focused into sinuous, elongate ridges. The presence of plateaus and ridges—emplaced from the rift zones, across the plains to the east of Pavonis Mons—and a lack of fan-like features, or evidence for their burial, are consistent with rift apron lavas crossing a slope break with low local volumetric flow rates that led to inflation of sheet-like and tube-fed lava flows.

Flank vents and graben as indicators of Late Amazonian volcanotectonic activity on Olympus Mons

AbstractPrevious studies have focused on large‐scale features on Olympus Mons, such as its flank terraces, the summit caldera complex, and the basal escarpment and aureole deposits. Here we identify and characterize previously unrecognized and unmapped small scale features to help further understand the volcanotectonic evolution of this enormous volcano. Using Context Camera, High Resolution Imaging Science Experiment, Thermal Emission Imaging System, High Resolution Stereo Camera Digital Terrain Model, and Mars Orbiter Laser Altimeter data, we identified and characterized the morphology and distribution of 60 flank vents and 84 grabens on Olympus Mons. We find that effusive eruptions have dominated volcanic activity on Olympus Mons in the Late Amazonian. Explosive eruptions were rare, implying volatile‐poor magmas and/or a lack of magma‐water interactions during the Late Amazonian. The distribution of flank vents suggests dike propagation of hundreds of kilometers and shallow magma storage. Small grabens, not previously observed in lower‐resolution data, occur primarily on the lower flanks of Olympus Mons and indicate late‐stage extensional tectonism. Based on superposition relationships, we have concluded two stages of development for Olympus Mons during the Late Amazonian: (1) primarily effusive resurfacing and formation of flank vents followed by (2) waning effusive volcanism and graben formation and/or reactivation. This developmental sequence resembles that proposed for Ascraeus Mons and other large Martian shields, suggesting a similar geologic evolution for these volcanoes.

Selection of the InSight Landing Site

The selection of the Discovery Program InSight landing site took over four years from initial identification of possible areas that met engineering constraints, to downselection via targeted data from orbiters (especially Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) and High-Resolution Imaging Science Experiment (HiRISE) images), to selection and certification via sophisticated entry, descent and landing (EDL) simulations. Constraints on elevation ( ${\leq}{-}2.5 \mbox{km}$ for sufficient atmosphere to slow the lander), latitude (initially 15°S–5°N and later 3°N–5°N for solar power and thermal management of the spacecraft), ellipse size (130 km by 27 km from ballistic entry and descent), and a load bearing surface without thick deposits of dust, severely limited acceptable areas to western Elysium Planitia. Within this area, 16 prospective ellipses were identified, which lie ∼600 km north of the Mars Science Laboratory (MSL) rover. Mapping of terrains in rapidly acquired CTX images identified especially benign smooth terrain and led to the downselection to four northern ellipses. Acquisition of nearly continuous HiRISE, additional Thermal Emission Imaging System (THEMIS), and High Resolution Stereo Camera (HRSC) images, along with radar data confirmed that ellipse E9 met all landing site constraints: with slopes <15° at 84 m and 2 m length scales for radar tracking and touchdown stability, low rock abundance (<10 %) to avoid impact and spacecraft tip over, instrument deployment constraints, which included identical slope and rock abundance constraints, a radar reflective and load bearing surface, and a fragmented regolith ∼5 m thick for full penetration of the heat flow probe. Unlike other Mars landers, science objectives did not directly influence landing site selection.

IDENTIFYING SURFACE CHANGES ON HRSC IMAGES OF THE MARS SOUTH POLAR RESIDUAL CAP (SPRC)

The surface of Mars has been an object of interest for planetary research since the launch of Mariner 4 in 1964. Since then different cameras such as the Viking Visual Imaging Subsystem (VIS), Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC), and Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) and High Resolution Imaging Science Experiment (HiRISE) have been imaging its surface at ever higher resolution. The High Resolution Stereo Camera (HRSC) on board of the European Space Agency (ESA) Mars Express, has been imaging the Martian surface, since 25th December 2003 until the present-day. HRSC has covered 100&amp;thinsp;% of the surface of Mars, about 70&amp;thinsp;% of the surface with panchromatic images at 10-20&amp;thinsp;m/pixel, and about 98&amp;thinsp;% at better than 100&amp;thinsp;

IDENTIFYING SURFACE CHANGES ON HRSC IMAGES OF THE MARS SOUTH POLAR RESIDUAL CAP (SPRC)

Abstract. The surface of Mars has been an object of interest for planetary research since the launch of Mariner 4 in 1964. Since then different cameras such as the Viking Visual Imaging Subsystem (VIS), Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC), and Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) and High Resolution Imaging Science Experiment (HiRISE) have been imaging its surface at ever higher resolution. The High Resolution Stereo Camera (HRSC) on board of the European Space Agency (ESA) Mars Express, has been imaging the Martian surface, since 25th December 2003 until the present-day. HRSC has covered 100 % of the surface of Mars, about 70 % of the surface with panchromatic images at 10-20 m/pixel, and about 98 % at better than 100 m/pixel (Neukum et. al., 2004), including the polar regions of Mars. The Mars polar regions have been studied intensively recently by analysing images taken by the Mars Express and MRO missions (Plaut et al., 2007). The South Polar Residual Cap (SPRC) does not change very much in volume overall but there are numerous examples of dynamic phenomena associated with seasonal changes in the atmosphere. In particular, we can examine the time variation of layers of solid carbon dioxide and water ice with dust deposition (Bibring, 2004), spider-like channels (Piqueux et al., 2003) and so-called Swiss Cheese Terrain (Titus et al., 2004). Because of seasonal changes each Martian year, due to the sublimation and deposition of water and CO2 ice on the Martian south polar region, clearly identifiable surface changes occur in otherwise permanently icy region. In this research, good quality HRSC images of the Mars South Polar region are processed based on previous identification as the optimal coverage of clear surfaces (Campbell et al., 2015). HRSC images of the Martian South Pole are categorized in terms of quality, time, and location to find overlapping areas, processed into high quality Digital Terrain Models (DTMs) and Orthorectified Images (ORIs) and projected into polar stereographic projection using DLR (Deutsches Zentrum für Luft- und Raumfahrt; German Aerospace Center)’s VICAR and GIS software with modifications developed by Kim &amp;amp; Muller (2009). Surface changes are identified in the Mars SPRC region and analysed based on their appearance in the HRSC images.

GLOBAL BUNDLE ADJUSTMENT WITH VARIABLE ORIENTATION POINT DISTANCE FOR PRECISE MARS EXPRESS ORBIT RECONSTRUCTION

The photogrammetric bundle adjustment of line scanner image data requires a precise description of the time-dependent image orientation. For this task exterior orientation parameters of discrete points are used to model position and viewing direction of a camera trajectory via polynomials. This paper investigates the influence of the distance between these orientation points on the quality of trajectory modeling. A new method adapts the distance along the trajectory to the available image information. Compared to a constant distance as used previously, a better reconstruction of the exterior orientation is possible, especially when image quality changes within a strip. &amp;lt;br&amp;gt;&amp;lt;br&amp;gt; In our research we use image strips of the High Resolution Stereo Camera (HRSC), taken to map the Martian surface. Several experiments on the global image data set have been carried out to investigate how the bundle adjustment improves the image orientation, if the new method is employed. For evaluation the forward intersection errors of 3D points derived from HRSC images, as well as their remaining height differences to the MOLA DTM are used. &amp;lt;br&amp;gt;&amp;lt;br&amp;gt; In 13.5 % (515 of 3,828) of the image strips, taken during this ongoing mission over the last 12 years, high frequency image distortions were found. Bundle adjustment with a constant orientation point distance was able to reconstruct the orbit in 239 (46.4 %) cases. A variable orientation point distance increased this number to 507 (98.6 %).

GLOBAL BUNDLE ADJUSTMENT WITH VARIABLE ORIENTATION POINT DISTANCE FOR PRECISE MARS EXPRESS ORBIT RECONSTRUCTION

Abstract. The photogrammetric bundle adjustment of line scanner image data requires a precise description of the time-dependent image orientation. For this task exterior orientation parameters of discrete points are used to model position and viewing direction of a camera trajectory via polynomials. This paper investigates the influence of the distance between these orientation points on the quality of trajectory modeling. A new method adapts the distance along the trajectory to the available image information. Compared to a constant distance as used previously, a better reconstruction of the exterior orientation is possible, especially when image quality changes within a strip. In our research we use image strips of the High Resolution Stereo Camera (HRSC), taken to map the Martian surface. Several experiments on the global image data set have been carried out to investigate how the bundle adjustment improves the image orientation, if the new method is employed. For evaluation the forward intersection errors of 3D points derived from HRSC images, as well as their remaining height differences to the MOLA DTM are used. In 13.5 % (515 of 3,828) of the image strips, taken during this ongoing mission over the last 12 years, high frequency image distortions were found. Bundle adjustment with a constant orientation point distance was able to reconstruct the orbit in 239 (46.4 %) cases. A variable orientation point distance increased this number to 507 (98.6 %).

The High Resolution Stereo Camera (HRSC) of Mars Express and its approach to science analysis and mapping for Mars and its satellites

The High Resolution Stereo Camera (HRSC) of ESA׳s Mars Express is designed to map and investigate the topography of Mars. The camera, in particular its Super Resolution Channel (SRC), also obtains images of Phobos and Deimos on a regular basis. As HRSC is a push broom scanning instrument with nine CCD line detectors mounted in parallel, its unique feature is the ability to obtain along-track stereo images and four colors during a single orbital pass. The sub-pixel accuracy of 3D points derived from stereo analysis allows producing DTMs with grid size of up to 50m and height accuracy on the order of one image ground pixel and better, as well as corresponding orthoimages. Such data products have been produced systematically for approximately 40% of the surface of Mars so far, while global shape models and a near-global orthoimage mosaic could be produced for Phobos. HRSC is also unique because it bridges between laser altimetry and topography data derived from other stereo imaging instruments, and provides geodetic reference data and geological context to a variety of non-stereo datasets. This paper, in addition to an overview of the status and evolution of the experiment, provides a review of relevant methods applied for 3D reconstruction and mapping, and respective achievements. We will also review the methodology of specific approaches to science analysis based on joint analysis of DTM and orthoimage information, or benefitting from high accuracy of co-registration between multiple datasets, such as studies using multi-temporal or multi-angular observations, from the fields of geomorphology, structural geology, compositional mapping, and atmospheric science. Related exemplary results from analysis of HRSC data will be discussed. After 10 years of operation, HRSC covered about 70% of the surface by panchromatic images at 10–20m/pixel, and about 97% at better than 100m/pixel. As the areas with contiguous coverage by stereo data are increasingly abundant, we also present original data related to the analysis of image blocks and address methodology aspects of newly established procedures for the generation of multi-orbit DTMs and image mosaics. The current results suggest that multi-orbit DTMs with grid spacing of 50m can be feasible for large parts of the surface, as well as brightness-adjusted image mosaics with co-registration accuracy of adjacent strips on the order of one pixel, and at the highest image resolution available. These characteristics are demonstrated by regional multi-orbit data products covering the MC-11 (East) quadrangle of Mars, representing the first prototype of a new HRSC data product level.

The Multi‐Temporal Database of Planetary Image Data (MUTED): A database to support the identification of surface changes and short-lived surface processes

Images of Mars taken by spacecraft in the last few decades indicate that the landscape has changed and that current processes are continuously changing the surface. The modifications of the landscape are caused by exogenic processes including eolian activity, mass movement, the growth and retreat of the polar caps, glacial processes and crater-forming impacts. In particular the High Resolution Stereo Camera (HRSC) on board Mars Express (MEx) and the Context Camera (CTX) on board the Mars Reconnaissance Orbiter (MRO) cover large areas at high resolution and thus are particularly well-suited to detect the extent and origin of surface changes on Mars. Multi-temporal observations of variable features on Mars became possible by the increasing number of repeated image acquisitions of the same surface areas. To support the investigation of surface changes that represents a key element in martian research, we developed MUTED, the “Multi-Temporal Database of Planetary Image Data”, which is a tool for the identification of the spatial and multi-temporal coverage of planetary image data from Mars. Using MUTED, scientists are able to identify the location, number, and time range of acquisitions of overlapping images from, for example, HRSC and CTX. MUTED also includes images from other planetary datasets such as those of the Mars Orbiter Camera (MOC), the Thermal Emission Imaging System (THEMIS), and the High Resolution Imaging Science Experiment (HiRISE). The database supports the identification and analysis of surface changes and short-lived surface processes on Mars based on fast automatic planetary image database queries. From the multi-temporal planetary image database and investigations based on multi-temporal observations we will better understand the interactions between the surface of Mars and external forces, including the atmosphere. MUTED is available for the planetary scientific community via the webpage of the Institut für Planetologie (IfP) Muenster.

Morphologic evidence of subsurface sediment mobilization and mud volcanism in Candor and Coprates Chasmata, Valles Marineris, Mars

Populations of distinctive knobs, rings and lobate structures are observed in the Candor and Coprates Chasmata regions of Mars. To interpret the formation mechanisms of these landforms, I investigate their morphologies, facies, superposition and crosscutting relationships using data from the High Resolution Imaging Science Experiment (HiRISE) and the High Resolution Stereo Camera (HRSC). The knobs and rings have quasi-circular to elliptical shapes in map view, with basal diameters between several hundred meters and three kilometers. The knobs rise ∼10 to 350m above the surrounding terrain, while the rings are ∼10 to 70m tall. In three dimensions the knobs have a rounded cone shape, and some knobs exhibit a summit depression, which in some examples contains a subordinate mound. The rings have rounded to sharp crests and in some instances contain subordinate rings and mounds. The lobate structures are commonly ∼1 to 2km wide, ∼3 to 5km long and rise up to 50m above the surrounding terrain. The lobate structures partially or completely encircle some knobs, rings and irregularly shaped rock masses. The knobs, rings and lobate structures exhibit massive and stratified facies, with some structures exhibiting both, such as a massive central rock mass surrounded by outwardly dipping layers. I interpret these landforms as mud volcanoes, injectites and mud flows based on superposition and cross-cutting relationships as well as similarities between the morphologies and facies of these landforms with terrestrial products of mud volcanism. I infer the source of sediment for this mud volcanism to be the Hesperian eolian deposits that occur within these chasmata. Further, I suggest that groundwater upwelling during the Hesperian to possibly the Early Amazonian facilitated the mobilization of these sediments within the subsurface and thereby contributed to the ensuing mud volcanism. Based on these results, I propose that the Candor Chaos formed through subsurface sediment mobilization and mud volcanism.

Systematic processing of Mars Express HRSC panchromatic and colour image mosaics: Image equalisation using an external brightness reference

After more than ten years in orbit at Mars, the coverage from the High Resolution Stereo Camera (HRSC) on the European Space Agency’s Mars Express is sufficient to begin constructing mosaic products on a global scale. We describe our systematic processing procedure and, in particular, the technique used to bring images affected by atmospheric dust into visual consistency with the mosaic. We outline how the same method is used to produce a relative colour mosaic which shows local colour differences. We demonstrate the results and show that the techniques may also be applied to images from other orbital cameras.

Active camera stabilization to enhance the vision of agile legged robots

SUMMARYLegged robots have the potential to navigate in more challenging terrains than wheeled robots. Unfortunately, their control is more demanding, because they have to deal with the common tasks of mapping and path planning as well as more specific issues of legged locomotion, like balancing and foothold planning. In this paper, we present the integration and the development of a stabilized vision system on the fully torque-controlled hydraulically actuated quadruped robot (HyQ). The active head added onto the robot is composed of a fast pan and tilt unit (PTU) and a high-resolution wide angle stereo camera. The PTU enables camera gaze shifting to a specific area in the environment (both to extend and refine the map) or to track an object while navigating. Moreover, as the quadruped locomotion induces strong regular vibrations, impacts or slippages on rough terrain, we took advantage of the PTU to mechanically compensate for the robot's motions. In this paper, we demonstrate the influence of legged locomotion on the quality of the visual data stream by providing a detailed study of HyQ's motions, which are compared against a rough terrain wheeled robot of the same size. Our proposed Inertial Measurement Unit (IMU)-based controller allows us to decouple the camera from the robot motions. We show through experiments that, by stabilizing the image feedback, we can improve the onboard vision-based processes of tracking and mapping. In particular, during the outdoor tests on the quadruped robot, the use of our camera stabilization system improved the accuracy on the 3D maps by 25%, with a decrease of 50% of mapping failures.

Hydraulic modeling of the tributary and the outlet of a Martian paleolake located in the Memnonia quadrangle

AbstractWe present a steady state hydraulic model of the tributary and the outlet of a Martian paleolake located in the Memnonia quadrangle between 167°0'0''W and 167°30'0''W longitude and between 9°25'0''S and 9°45'0''S latitude. The Mars Express High‐resolution stereo camera (HRSC) digital elevation model, H31850000DA4, with a spatial resolution of 75 m is used to describe the geometrical features of the hydraulic system. A steady state hydraulic model, through a Monte Carlo procedure, is adopted to investigate the assumption that the tributary‐lake‐outlet hydraulic system was acting simultaneously during its last water‐related evolutionary phase. Through our analysis, we infer the roughness coefficient and the discharge of both the tributary and the outlet channels. Geomorphic evidence, such as river terraces, were used to constrain the water discharge and the Manning's roughness coefficient, thereby obtaining estimates of the water level in the lake, during the last evolutionary phase of the system. Our analysis of the outlet reveals a median paleodischarge of 7135 m3 s−1 and a median Manning's roughness coefficient of 0.067 m−1/3 s. Tributary analysis provides a median flow and a median roughness coefficient of 6405 m3 s −1 and 0.123 m−1/3 s, respectively. Moreover, the hydraulic analysis suggests that the paleolake water surface level was −1397 m (median value, HRSC elevation), which is consistent with the observed paleoshoreline. The results imply that the tributary, the lake, and the outlet were hydraulically synchronized, therefore confirming the presence of a connected water system. This study demonstrates that hydraulic analysis can provide valuable information regarding ancient Martian water fluxes.