Project Overview  |  Research Team  |  Meetings  |  Publications  |  Related Sites

Project Overview

In this project, we will develop advanced rover localization and topographic mapping technologies to support the ESA ExoMars rover mission. Project objectives are to:

1) Develop strategy and high-precision rigorous models and calibration methods for ExoMars PanCam (Panoramic Camera);

2) Evaluate the attainable accuracy of PanCam stereo images for 3D topographic mapping and rover localization;

3) Perform long-range rover localization and topographic mapping through an enhanced incremental bundle adjustment using networked PanCam images to achieve an accuracy of 0.1% of the traveled distance for long-range traverse;

4) Establish a web-based user interface and a GIS database by which, within a short time after data is returned from Mars, scientists and engineers can retrieve topographic maps and rover localization results and measure 3D objects using the interface tools; and

5) Create a public archive of the derived products in the Planetary Data System (PDS) to enable the U.S. and international planetary science community access to a highly valuable scientific data set.

Rigorous models will be developed for high-precision modeling of the imaging geometries of PanCam's wide-angle cameras (WACs) and High-Resolution Camera (HRC). A model combining short (WACs) and long (HRC) focal lengths has never before been used in planetary rovers for high-precision, long-range metric applications. The current bundle adjustment technology, which has been used during MER (Mars Exploration Rover) 2003 mission operations for rover localization and topographic mapping, will be extended to incorporate the characteristics of the PanCam so as to process the PanCam imagery at the very highest possible level of accuracy.

The developed methods will enhance the scientific output of the ExoMars mission. They can also be used in future Lunar, Mars, or other planetary landed missions.

Research Team

Principal Investigator:

 Dr. Ron Li, Director of Mapping & GIS Laboratory, The Ohio State University (OSU)

Co-Principal Investigators

• Prof. Andrew Coates, Head of MSSL Planetary Science Group, University College London (UCL)
• Dr. Andrew Griffiths, Stereo Camera Scientist, MSSL Planetary Science Group,  UCL
• Dr. Jan-Peter Muller, Project Scientist, MSSL Planetary Science Group, UCL
• Mr. Gerhard Paar,  Head of Institute of Close Range Photogrammetry Group, Joanneum Research (JR)
• Dr. Jürgen Oberst, Head of Planetary Geodesy, German Aerospace Center (DLR)
• Dr. Bo Wu, Research Associate, Mapping & GIS Laboratory, OSU

Research Staff and Graduate Research Associates at OSU　

• Dr. Min Tang, Postdoctoral Researcher
• Wei Wang, Graduate Research Associate

Meetings

Publications

Related Sites

ESA ExoMars Mission

UCL MSSL ExoMars Program

EC-FP7 PRoVisG Project

Aberystwyth University ExoMars Program

CNES ExoMars Program

NASA JPL ExoMars Program

Mars Exploration Rover 2003 (MER) Mission

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