Title

Integration of Orbital, Descent and Ground Imagery
for Topographic Capability Analysis in Mars Landed Missions

NASA Program

ROSES-2005 NRA, Science Mission Directorate

Principal Investigator

Dr. Ron Li

Co-Investigator

Dr. Kaichang Di

Timeline

January 1, 2006 to December 31, 2008

Goal

The goal of the proposed research is to develop advanced geo-information technology to integrate orbital, descent, and ground imagery for topographic capability analysis in Mars landed missions.

Objectives

1) Investigate how to integrate the orbital, descent and ground imagery within a true 3-D integrated geometric model,
2) Estimate the precision of topographic features mapped on the Martian surface, and
3) Develop innovative applied information methodºs to register orbital, descent and ground imagery through distinctive landmarks, and to develop methods for automatic mapping of large terrain features such as major craters, hollows, and hills.

Study Area

Mars Exploration Rover (MER) Landing Site
Spirit : Gusev Crater (14.6ºS, 175.5ºE)
Opportunity :  Meridiani Planum (2.1ºS, 353.8ºE)

Dataset

 
< Three MOC/NA Images for Spirit Landing Site >

 
< Two Nadir HRSC Images for Spirit Landing Site > 


< Mosaic of three DIMES images for Spirit Landing Site >
 

Approach

Systematic assessment of topographic mapping capabilities of orbital, descent and ground imagery will be conducted based on photogrammetric bundle adjustment and statistical analysis. The current bundle-adjustment technology, which has been used during MER (Mares Exploration Rover) mission operations for MER landing-site mapping and rover localization using ground images, will be extended to include orbital and descent images within an integrated geometric model. Using an extended bundle adjustment, the positions and orientations of all three types of images will be adjusted in this integrated image network to achieve the best possible accuracy.
 

Output

Topographic products, such as digital terrain models (DTMs), orthophotos, and 3-D dynamic models (VRML), will be generated after bundle adjustment of the image network. These products are very important for topographic and geological characterization of landing sites, for crater mechanics modeling, and for other scientific research in future Mars landed missions.
The research goes beyond existing efforts because it integrates orbital, descent and ground imagery in a new comprehensive geometric model and facilitates high-precision topographic mapping. The developed methods can be used in future missions for regional topographic mapping to support landing-site selection for topographic characterization before landing, and for mission planning and surface operations at an extended landing site.

Journal Papers

• Di, K., F. Xu, J. Wang, S. Agarwal, E. Brodyagina, R. Li, and L. Matthies, 2008. Photogrammetric Processing of Rover Imagery of the 2003 Mars Exploration Rover Mission. ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 63, pp. 181-201, doi:10.1016/j.isprsjprs.2007.07.007.
• Li, R., K. Di, A. Howard, L. Matthies, J. Wang, and S. Agarwal 2007. Rock Modeling and Matching for Autonomous Long-Range Mars Rover Localization. Journal of Field Robotics, Vol.24, No.3, pp.187-203.
• Li, R., K. Di, J. Wang, X. Niu, S. Agarwal, E. Brodyagina, E. Oberg, and J.W. Hwangbo 2007. A WebGIS for Spatial Data Processing, Analysis, and Distribution for the MER 2003 Mission. Photogrammetric Engineering and Remote Sensing, Vol. 73, No. 6, pp. 671-680.
• Li, R., R.E. Arvidson, K. Di, M. Golombek, J. Guinn, A. Johnson, M. Maimone, L.H. Matthies, M. Malin, T. Parker, S.W. Squyres, and W.A. Watters 2007. Opportunity Rover Localization and Topographic Mapping at the Landing site of Meridiani Planum, Mars. Journal of Geophysical Research-Planets, Vol. 112, No. E2, E02S90, doi:10.1029/2006JE002776.

• Hwangbo, J. W., K. Di and R. Li, 2009. Integration of Orbital and Ground Image Networks for the Automation of Rover Localization. ASPRS 2009 Annual Conference, Mar, 9-13, 2009, Baltimore, MD. (CD-ROM)
• Li, R., J. W. Hwangbo, Y. Chen, and K. Di, 2008. Rigorous Photogrammetric Processing of HiRISE Stereo Images for Mars Topographic Mapping. XXI ISPRS Congress, July, 3-11, 2008, Beijing, China.
• Li, R., K. Di, J. W. Hwangbo, Y. Chen, and the Athena Science Team 2008. Rigorous Photogrammetric Processing of HiRISE Stereo Images and Topographic Mapping at Mars Exploration Rovers Landing Sites. Abstract (2 pages) and presentation, 39th Lunar and Planetary Science Conference, League City, TX, March 10-14, 2008.
• Li, R., K. Di, B. Wu, W. Chen, J. Wang, S. He, J. Hwangbo, and Y. Chen, 2007. Topographic Mapping and Rover Localization during the 2003 Mar Exploration Rover Mission Operations and New Developments for Future Landed Missions. European Mars Science & Exploration Conference: Mars Express and ExoMars, Noordwijk, The Netherlands, November 12-16, 2007.
• Li, R., K. Di, J.W. Hwangbo, and Y. Chen 2007. Integration of Orbital and Ground Images for Enhanced Topographic Mapping in Mars Landed Missions. Proceedings of the Annual NASA Science Technology Conference, College Park, MD, June 19-21, 2007, 6p. (unpaginated CD-ROM).
• Li, R., K. Di, J. Wang, S. He, A. Howard, and L. Matthies 2007. Rock Modeling and Matching for Autonomous Mars Rover Localization. Proceedings of the Annual NASA Science Technology Conference, College Park, MD, June 19-21, 2007, 6p. (unpaginated CD-ROM).
• Di, K., S. Agarwal, J. Wang, R. Li, A. Howard, and L. Matthies 2007. New Methods for Automated Mars Rover Localization. Presentation at the ASPRS 2007 Annual Conference, Tampa, FL, May 7-11.
• Li, R., K. Di, and J. Hwangbo 2006. Integration of Orbital, Descent and Ground Imagery for Topographic Capability Analysis in Mars Landed Missions. Presentation at Mars Applied Information Systems Research Program Investigators’ Workshop, College Park, MD, October 3-5.