Geology topics

Elpitha Howington-Kraus

Publications and source records attributed to Elpitha Howington-Kraus.

At least 19 recordsLinked to original sources

USGS2020

Community tools for cartographic and photogrammetric processing of Mars Express HRSC images

In this chapter we describe the software we have developed for photogrammetric processing of images from the Mars Express High Resolution Stereo Camera (MEX HRSC) to produce digital topographic models (DTMs) and orthoimages, as well as testing we have performed. HRSC has returned images, including stereo and color coverage of most of Mars at decameter scales. The instrument team has developed an extremely powerful processing pipeline and delivered a large number of high-level data products, but our independent software is nevertheless of interest because it provides a check on the standard products, sheds light on the capabilities of software elements we use for multiple missions besides HRSC, and is publicly available, giving users the opportunity to make products that may not (yet) be released by the team and custom products such as local mosaics. We have tested our software on images of three areas: Candor Chasma and Nanedi Valles (both the subject of past DTM comparisons reported by Heipke et al., 2007) and Gale crater, which was extensively mapped at pixel scales 50 times finer than HRSC before its selection as the landing site of the Curiosity rover. We find the vertical precision and mean deviation from the altimetry data used as a control reference for our DTMs to be comparable to the nadir image pixel size. The horizontal resolution of the DTMs appears to be an order of magnitude coarser than the lower limit of 3–5 image pixels that is commonly stated.

Book chapter↗

USGS2017

Community tools for cartographic and photogrammetric processing of Mars Express HRSC images

The High Resolution Stereo Camera (HRSC) on the Mars Express orbiter (Neukum et al. 2004) is a multi-line pushbroom scanner that can obtain stereo and color coverage of targets in a single overpass, with pixel scales as small as 10 m at periapsis. Since commencing operations in 2004 it has imaged ~ 77 % of Mars at 20 m/pixel or better. The instrument team uses the Video Image Communication And Retrieval (VICAR) software to produce and archive a range of data products from uncalibrated and radiometrically calibrated images to controlled digital topographic models (DTMs) and orthoimages and regional mosaics of DTM and orthophoto data (Gwinner et al. 2009; 2010b; 2016). Alternatives to this highly effective standard processing pipeline are nevertheless of interest to researchers who do not have access to the full VICAR suite and may wish to make topographic products or perform other (e. g., spectrophotometric) analyses prior to the release of the highest level products. We have therefore developed software to ingest HRSC images and model their geometry in the USGS Integrated Software for Imagers and Spectrometers (ISIS3), which can be used for data preparation, geodetic control, and analysis, and the commercial photogrammetric software SOCET SET (® BAE Systems; Miller and Walker 1993; 1995) which can be used for independent production of DTMs and orthoimages. The initial implementation of this capability utilized the then-current ISIS2 system and the generic pushbroom sensor model of SOCET SET, and was described in the DTM comparison of independent photogrammetric processing by different elements of the HRSC team (Heipke et al. 2007). A major drawback of this prototype was that neither software system then allowed for pushbroom images in which the exposure time changes from line to line. Except at periapsis, HRSC makes such timing changes every few hundred lines to accommodate changes of altitude and velocity in its elliptical orbit. As a result, it was necessary to split observations into blocks of constant exposure time, greatly increasing the effort needed to control the images and collect DTMs. Here, we describe a substantially improved HRSC processing capability that incorporates sensor models with varying line timing in the current ISIS3 system (Sides 2017) and SOCET SET. This enormously reduces the work effort for processing most images and eliminates the artifacts that arose from segmenting them. In addition, the software takes advantage of the continuously evolving capabilities of ISIS3 and the improved image matching module NGATE (Next Generation Automatic Terrain Extraction, incorporating area and feature based algorithms, multi-image and multi-direction matching) of SOCET SET, thus greatly reducing the need for manual editing of DTM errors. We have also developed a procedure for geodetically controlling the images to Mars Orbiter Laser Altimeter (MOLA) data by registering a preliminary stereo topographic model to MOLA by using the point cloud alignment ( pc_align ) function of the NASA Ames Stereo Pipeline (ASP; Moratto et al. 2010). This effectively converts inter-image tiepoints into ground control points in the MOLA coordinate system. The result is improved absolute accuracy and a significant reduction in work effort relative to manual measurement of ground control. The ISIS and ASP software used are freely available; SOCET SET, is a commercial product. By the end of 2017 we expect to have ported our SOCET SET HRSC sensor model to the Community Sensor Model (CSM; Community Sensor Model Working Group 2010; Hare and Kirk 2017) standard utilized by the successor photogrammetric system SOCET GXP that is currently offered by BAE. In early 2018, we are also working with BAE to release the CSM source code under a BSD or MIT open source license.

The International Archives of the Photogrammetry, ↗

USGS2016

Analysis of local slopes at the InSight landing site on Mars

To evaluate the topography of the surface within the InSight candidate landing ellipses, we generated Digital Terrain Models (DTMs) at lander scales and those appropriate for entry, descent, and landing simulations, along with orthoimages of both images in each stereopair, and adirectional slope images. These products were used to assess the distribution of slopes for each candidate ellipse and terrain type in the landing site region, paying particular attention to how these slopes impact InSight landing and engineering safety, and results are reported here. Overall, this region has extremely low slopes at 1-meter baseline scales and meets the safety constraints of the InSight lander. The majority of the landing ellipse has a mean slope at 1-meter baselines of 3.2°. In addition, a mosaic of HRSC, CTX, and HiRISE DTMs within the final landing ellipse (ellipse 9) was generated to support entry, descent, and landing simulations and evaluations. Several methods were tested to generate this mosaic and the NASA Ames Stereo Pipeline program dem_mosaic produced the best results. For the HRSC-CTX-HiRISE DTM mosaic, more than 99 % of the mosaic has slopes less than 15°, and the introduction of artificially high slopes along image seams was minimized.

Space Science Reviews↗

USGS2012

Topography of Valles Marineris: Implications for erosional and structural history

Compilation of a simplified geologic/geomorphic map onto digital terrain models of the Valles Marineris permitted an evaluation of elevations in the vicinity of the troughs and the calculation of depth of troughs below surrounding plateaus, thickness of deposits inside the troughs, volumes of void spaces above geologic/geomorphic units, and volumes of deposits. The central troughs north Ophir, north and central Candor, and north Melas Chasmata lie as much as 11 km below the adjacent plateaus. In Ophir and Candor Chasmata, interior layered deposits reach 8 km in elevation. If the deposits are lacustrine and if all troughs were interconnected, lake waters standing 8 km high would have spilled out of Coprates Chasma onto the surrounding plateaus having surface elevations of only 4–5 km. In this case, interior deposits above about 4 km in the central troughs would not be lacustrine. They could be volcanic. On the other hand, the troughs may not have been interconnected at the time of interior‐deposit emplacement; they may have formed isolated ancestral basins. The existence of such basins is supported by independent structural and stratigraphic evidence. The ancestral basins may have eventually merged, perhaps through renewed faulting, to form northern subsidiary troughs in Ophir and Candor Chasmata and the Coprates/north Melas/Ius graben system. The peripheral troughs are only 2–5 km deep, shallower than the central troughs. They may have formed from a combination of erosional collapse and structural activity. Chaotic terrain is seen in the peripheral troughs near a common contour level of about 4 km on the adjacent plateaus, which supports the idea of release of water under artesian pressure from confined aquifers. The layered deposits in the peripheral troughs may have formed in isolated depressions that harbored lakes and predated the formation of the deep outflow channels. If these layered deposits are of volcanic origin, they may have been emplaced beneath ice in the manner of table mountains. Areal and volumetric computations show that erosion widened the troughs by about one‐third and that deposits occupy one‐sixth of the interior space. Even though the volume eroded is larger than the volume deposited, topographic and geologic considerations imply that material eroded from trough walls was probably part of the interior layered deposits but not their sole source. Additional material may have come from subterranean piping, from reworking of local disintegration products on the floors, such as chaotic materials, or from eolian influx. But overall it is likely that the additional material is volcanic and that it forms mostly the upper, more diversely bedded layers of the interior deposits.

Journal of Geophysical Research E: Planets↗

USGS2008

Ultrahigh resolution topographic mapping of Mars with MRO HiRISE stereo images: Meter-scale slopes of candidate Phoenix landing sites

The objectives of this paper are twofold: first, to report our estimates of the meter‐to‐decameter‐scale topography and slopes of candidate landing sites for the Phoenix mission, based on analysis of Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) images with a typical pixel scale of 3 m and Mars Reconnaissance Orbiter (MRO) High Resolution Imaging Science Experiment (HiRISE) images at 0.3 m pixel −1 and, second, to document in detail the geometric calibration, software, and procedures on which the photogrammetric analysis of HiRISE data is based. A combination of optical design modeling, laboratory observations, star images, and Mars images form the basis for software in the U.S. Geological Survey Integrated Software for Imagers and Spectrometers (ISIS) 3 system that corrects the images for a variety of distortions with single‐pixel or subpixel accuracy. Corrected images are analyzed in the commercial photogrammetric software SOCET SET (® BAE Systems), yielding digital topographic models (DTMs) with a grid spacing of 1 m (3–4 pixels) that require minimal interactive editing. Photoclinometry yields DTMs with single‐pixel grid spacing. Slopes from MOC and HiRISE are comparable throughout the latitude zone of interest and compare favorably with those where past missions have landed successfully; only the Mars Exploration Rover (MER) B site in Meridiani Planum is smoother. MOC results at multiple locations have root‐mean‐square (RMS) bidirectional slopes of 0.8–4.5° at baselines of 3–10 m. HiRISE stereopairs (one per final candidate site and one in the former site) yield 1.8–2.8° slopes at 1‐m baseline. Slopes at 1 m from photoclinometry are also in the range 2–3° after correction for image blur. Slopes exceeding the 16° Phoenix safety limit are extremely rare.

Journal of Geophysical Research E: Planets↗

USGS2008

Surface processes recorded by rocks and soils on Meridiani Planum, Mars: Microscopic Imager observations during Opportunity's first three extended missions

The Microscopic Imager (MI) on the Mars Exploration Rover Opportunity has returned images of Mars with higher resolution than any previous camera system, allowing detailed petrographic and sedimentological studies of the rocks and soils at the Meridiani Planum landing site. Designed to simulate a geologist's hand lens, the MI is mounted on Opportunity's instrument arm and can resolve objects 0.1 mm across or larger. This paper provides an overview of MI operations, data calibration, and analysis of MI data returned during the first 900 sols (Mars days) of the Opportunity landed mission. Analyses of Opportunity MI data have helped to resolve major questions about the origin of observed textures and features. These studies support eolian sediment transport, rather than impact surge processes, as the dominant depositional mechanism for Burns formation strata. MI stereo observations of a rock outcrop near the rim of Erebus Crater support the previous interpretation of similar sedimentary structures in Eagle Crater as being formed by surficial flow of liquid water. Well‐sorted spherules dominate ripple surfaces on the Meridiani plains, and the size of spherules between ripples decreases by about 1 mm from north to south along Opportunity's traverse between Endurance and Erebus craters.

Journal of Geophysical Research E: Planets↗

USGS2008

Radargrammetry on three planets

Synthetic Aperture Radar (SAR) can provide useful images in situations where passive optical imaging cannot, either because the microwaves used can penetrate atmospheric clouds, because active imaging can "see in the dark," or both. We have participated in the NASA Magellan mission to Venus in the 1990s and the current NASA-ESA Cassini-Huygens mission to Saturn and Titan, which have used SAR to see through the clouds of Venus and Titan, respectively, and have developed software and techniques for the production of digital topographic models (DTMs) from radar stereopairs. We are currently preparing for similar radargrammetric analysis of data from the Mini-RF instrument to be carried to the Moon on both the ISRO Chandrayaan-1 and NASA Lunar Reconnaissance Orbiter (LRO) missions later in 2008. These instruments are intended to image the permanently shadowed areas at the lunar poles and even see below the surface to detect possible water ice deposits. In this paper, we describe our approach to radargrammetric topographic mapping, based on the use of the USGS ISIS software system to ingest and prepare data, and the commercial stereoanalysis software SOCET SET (® BAE Systems), augmented with custom sensor models we have implemented, for DTM production and editing. We describe the commonalities and differences between the various data sets, and some of the lessons learned, both radargrammetric and geoscientific.

The International Archives of the Photogrammetry, ↗

USGS2007

Topography and geomorphology of the Huygens landing site on Titan

The Descent Imager/Spectral Radiometer (DISR) aboard the Huygens Probe took several hundred visible-light images with its three cameras on approach to the surface of Titan. Several sets of stereo image pairs were collected during the descent. The digital terrain models constructed from those images show rugged topography, in places approaching the angle of repose, adjacent to flatter darker plains. Brighter regions north of the landing site display two styles of drainage patterns: (1) bright highlands with rough topography and deeply incised branching dendritic drainage networks (up to fourth order) with dark-floored valleys that are suggestive of erosion by methane rainfall and (2) short, stubby low-order drainages that follow linear fault patterns forming canyon-like features suggestive of methane spring-sapping. The topographic data show that the bright highland terrains are extremely rugged; slopes of order of 30° appear common. These systems drain into adjacent relatively flat, dark lowland terrains. A stereo model for part of the dark plains region to the east of the landing site suggests surface scour across this plain flowing from west to east leaving ∼100-m-high bright ridges. Tectonic patterns are evident in (1) controlling the rectilinear, low-order, stubby drainages and (2) the “coastline” at the highland–lowland boundary with numerous straight and angular margins. In addition to flow from the highlands drainages, the lowland area shows evidence for more prolific flow parallel to the highland–lowland boundary leaving bright outliers resembling terrestrial sandbars. This implies major west to east floods across the plains where the probe landed with flow parallel to the highland–lowland boundary; the primary source of these flows is evidently not the dendritic channels in the bright highlands to the north.

Planetary and Space Science↗

USGS2007

First stereoscopic radar images of Titan

Saturn's giant, cloud-covered satellite Titan, larger than the planet Mercury, is the last major piece of unexplored real estate in the Solar system. The NASA/ESA Cassini spacecraft carries a variety of instruments that are being used to map the surface of Titan, including optical instruments that provide a global synoptic view and spectroscopic information, and microwave imager (Cassini Titan RADAR) that can produce a 5000-km long 300- 1400 m resolution image that covers ~1% of Titan during a flyby encounter with the satellite. The first 7 such images, obtained between October 2004 and July 2006, covered nonoverlapping areas and revealed a diverse (and surprisingly Earth-like, despite the very cold temperature and different chemistry of the surface) set of geologic features, including volcanos, dune fields, channels, mountains, and impact craters. Beginning with the T18 encounter in September 2006, all but one of the dozen RADAR images obtained during the remainder of Cassini's prime mission will overlap with previous coverage. The repeat coverage has numerous cartographic and scientific applications, including serving as the basis for the most accurate geodetic control network of Titan, providing information about the surface materials as revealed by their angle-dependent microwave-scattering properties, allowing comparisons to look for temporal changes, and providing information about surface relief that can be exploited by radar-stereogrammetric mapping. We report the initial results of automated and manual stereo elevation measrurements at the USGS and JPL. These reveal local relief of several hundred to a thousand meters, associated with a canyon system and probable lakes in the northern hemisphere, a result that is consistent with the available topographic information about other parts of Titan from altimetry and radar shape-from-shading. Work is underway to develop more rigorous and efficient stereomapping tools at both institutions, based on those originally designed for the Magellan radar imagery of Venus, and to apply these to the extended stereo coverage that will become available over the next few years.

Conference Paper↗

USGS2007

Ultrahigh resolution topographic mapping of Mars with HiRISE stereo images: Methods and first results

The Mars Reconnaissance Orbiter (MRO) arrived at Mars on 10 March 2006 and began its primary science phase in November. The High Resolution Imaging Science Experiment (HiRISE) on MRO is the largest, most complex camera ever flown to another planet. Plans call for this scanner to image roughly 1% of Mars by area at a pixel scale of 0.3 m during the next Mars year. Among the thousands of images will be hundreds of stereopairs that will provide an unprecedented three-dimensional view of the Martian surface at meter scale. These stereopairs will provide a tremendous amount of information for focused scientific studies, landing site selection and validation, and the operation of landers and rovers. In this paper, we describe our approach to generating geodetically controlled digital topographic models (DTMs) from such stereopairs, our early results, and plans for future DTM production. Our approach to the photogrammetric processing of HiRISE images follows that which we have previously described for the MOC and the Mars Express High Resolution Stereo Camera (HRSC). We use the USGS in-house digital cartographic software ISIS to do initial processing, including ingestion, decompression, and radiometric calibration of the images. "Three-dimensional" photogrammetric processing steps, including control and DTM creation and editing, are performed on a photogrammetric workstation running the commercial software SOCET SET (® BAE Systems). Noteworthy departures from past practice are the use of ISIS 3, the object-oriented successor to the older ISIS 2 system, and pre-processing in ISIS to correct geometric complications of the HiRISE images that cannot be modelled in the SOCET sensor model: multiple CCD detectors in the focal plane, optical distortion around an axis far from the detectors, and (ultimately) the small "jitter" motions of spacecraft pointing that distort the images and hence the DTMs. The first HiRISE stereopair analyzed covered the location of the Opportunity rover near the 750-m crater informally named Victoria in Meridiani Planum. This scene was extremely unfavorable for automated stereomatching, with extensive areas that are almost featureless, extremely steep, or both, but these problems were offset by the high quality of the HiRISE imagery, permitting us to obtain a 1 m/post DTM that required only limited interactive editing. Subsequent mapping of the Spirit rover site and a variety of scientifically interesting sites has proven that the greater surface texture found at most places on Mars leads to even better DTMs with even less editing required. We are currently working to refine and streamline our procedures in order to maximize the number of sites that can be mapped and studied in three dimensions with HiRISE.

Conference Paper↗

USGS2006

Overview of the Microscopic Imager Investigation during Spirit's first 450 sols in Gusev crater

The Microscopic Imager (MI) on the Mars Exploration Rover Spirit has returned images of Mars with higher resolution than any previous camera system, allowing detailed petrographic and sedimentological studies of the rocks and soils at the Gusev landing site. Designed to simulate a geologist's hand lens, the MI is mounted on Spirit's instrument arm and can resolve objects 0.1 mm in size or larger. This paper provides an overview of MI operations, data calibration, processing, and analysis of MI data returned during the first 450 sols (Mars days) of the Spirit landed mission. The primary goal of this paper is to facilitate further analyses of MI data by summarizing the methods used to acquire and process the data, the radiometric and geometric accuracy of MI data products, and the availability of archival products. In addition, scientific results of the MI investigation are summarized. MI observations show that poorly sorted soils are common in Gusev crater, although aeolian bedforms have well‐sorted coarse sand grains on their surfaces. Abraded surfaces of plains rocks show igneous textures, light‐toned veins or fracture‐filling minerals, and discrete coatings. The rocks in the Columbia Hills have a wide variety of granular textures, consistent with volcaniclastic or impact origins. Case hardening and submillimeter veins observed in the rocks as well as soil crusts and cemented clods imply episodic subsurface aqueous fluid movement, which has altered multiple geologic units in the Columbia Hills. The MI also monitored Spirit's solar panels and the magnets on the rover's deck.

Journal of Geophysical Research E: Planets↗

USGS2006

USGS Magellan stereomapping of Venus

This paper describes our methods for generating high resolution Digital Terrain Models (DTMs) of Venus using Magellan synthetic aperture radar (SAR) stereoimages, and the sensor model we developed for Magellan stereomapping on our digital photogrammetric workstation running SOCET SET (® BAE SYSTEMS). In addition to demonstrating the validity of our sensor model and procedures we use for mapping, we explain potential error sources that we have identified as well. We also present test results of our ability to produce DTMs using opposite-side Magellan stereo. This capability can compliment normal same-side stereomapping in areas of low relief by providing exaggerated stereo helpful for DTM generation, and by providing a source of stereo information in gaps occurring in the nominal Magellan stereocoverage.

Conference Paper↗

USGS2006

Topomapping of Mars with HRSC Images, ISIS, and a commercial stereo workstation

We demonstrate that the freely available USGS planetary cartography software package ISIS and the commercial photogrammetric software SOCET SET jointly provide a complete environment for the processing of Mars Express High Resolution Stereo Camera (HRSC) images. Capabilities include bundle adjustment, automated production and interactive editing of stereo digital terrain models (DTMs), orthomosaic production, photometric modeling and normalization, and DTM refinement by photoclinometry/shapefrom-shading. The generation of DTMs and other products for two test areas on Mars is described; a companion paper by Heipke et al. (2006) compares DTMs produced from these test datasets by multiple investigators using alternate approaches. SOCET SET capabilities relevant to multi-line scanners (including HRSC) are evolving, and improved performance in several areas can be expected in the near future. ISIS by itself provides useful capabilities for orthomosaic production with pre-existing DTMs, photometry, and photoclinometry, and the value of these free tools will be increased once an HRSC bundle-adjustment capability is implemented.

Conference Paper↗

USGS2005

HRSC on Mars Express: Photogrammetric and cartographic research

The High Resolution Stereo Camera (HRSC) on the European spacecraft Mars Express is the first camera on a planetary mission especially designed for photogrammetric and cartographic purposes. Since January 2004 the camera has been taking image data from the Martian surface, characterized by high-resolution, stereo capability and color. These data provide an enormous potential for the generation of 3D surface models, color orthoimages, topographic and thematic maps, and additional products. The image data acquired undergo calibration and systematic processing to orthoimages and 3D data products. Within the international HRSC Science Team the members of the Photogrammetric/Cartographic Working Group are concerned with further refinements in order to achieve highest quality data products. These activities comprise improvements of the exterior orientation of the camera, various approaches to enhance DTM quality, and the generation of maps in the standard scale of 1:200 000 and larger scales as well. The paper reports on these activities and the results achieved so far .

Photogrammetric Engineering and Remote Sensing↗

USGS2005

Utility of Viking Orbiter images and products for Mars mapping

This paper reports on mapping procedures developed by the U.S. Geological Survey that use Viking Orbiter imagery and Mars Orbiter Laser Altimeter (MOLA) derived radii to produce topographic data. The use of Mosaiced Digital Image Models (MDIMs), created from Viking Orbiter images, and MOLA data to provide horizontal and vertical control is reviewed. We describe procedures to adapt a commercial digital photogrammetric workstation to work with planetary data.

Photogrammetric Engineering and Remote Sensing↗

USGS2004

The nucleus of Comet Borrelly: A study of morphology and surface brightness

Stereo images obtained during the DS1 flyby were analyzed to derive a topographic model for the nucleus of Comet 19P/Borrelly for morphologic and photometric studies. The elongated nucleus has an overall concave shape, resembling a peanut, with the lower end tilted towards the camera. The bimodal character of surface-slopes and curvatures support the idea that the nucleus is a gravitational aggregate, consisting of two fragments in contact. Our photometric modeling suggests that topographic shading effects on Borrelly's surface are very minor (<10%) at the given resolution of the terrain model. Instead, albedo effects are thought to dominate Borrelly's large variations in surface brightness. With 90% of the visible surface having single scattering albedos between 0.008 and 0.024, Borrelly is confirmed to be among the darkest of the known Solar System objects. Photometrically corrected images emphasize that the nucleus has distinct, contiguous terrains covered with either bright or dark, smooth or mottled materials. Also, mapping of the changes in surface brightness with phase angle suggests that terrain roughness at subpixel scale is not uniform over the nucleus. High surface roughness is noted in particular near the transition between the upper and lower end of the nucleus, as well as near the presumed source region of Borrelly's main jets. Borrelly's surface is complex and characterized by distinct types of materials that have different compositional and/or physical properties.

Icarus↗

USGS2004

Comparison of USGS and DLR topographic models of Comet Borrelly and photometric applications

Stereo analysis of images obtained during the 2001 flyby of Comet Borrelly by NASA's Deep Space 1 (DS1) probe allows us to quantify the shape and photometric behavior of the nucleus. The shape is complex, with planar facets corresponding to the dark, mottled regions of the surface whereas the bright, smooth regions are convexly curved. The photometric as well as textural differences between these regions can be explained in terms of topography (roughness) at and below the image resolution, without invoking significant variations in single-particle properties; the material on Borrelly's surface could be quite uniform. A statistical comparison of the digital elevation models (DEMs) produced from the three highest-resolution images independently at the USGS and DLR shows that their difference standard deviation is 120 m, consistent with a matching error of 0.20 pixel (similar to reported matching accuracies for many other stereo datasets). The DEMs also show some systematic differences attributable to manual versus automatic matching. Disk-resolved photometric modeling of the nucleus using the DEM shows that bright, smooth terrains on Borrelly are similar in roughness (Hapke roughness θ =20°) to C-type asteroid Mathilde but slightly brighter and more backscattering (single-scattering albedo w =0.056, Henyey–Greenstein phase parameter g =−0.32). The dark, mottled terrain is photometrically consistent with the same particles but with roughnesses as large as 60°. Intrinsically darker material is inconsistent with the phase behavior of these regions. Many local radiance variations are clearly related to topography, and others are consistent with a topographic explanation; one need not invoke albedo variations greater than a few tens of percent to explain the appearance of Borrelly.

Icarus↗

USGS2003

High-resolution topomapping of candidate MER landing sites with Mars Orbiter Camera narrow-angle images

We analyzed narrow‐angle Mars Orbiter Camera (MOC‐NA) images to produce high‐resolution digital elevation models (DEMs) in order to provide topographic and slope information needed to assess the safety of candidate landing sites for the Mars Exploration Rovers (MER) and to assess the accuracy of our results by a variety of tests. The mapping techniques developed also support geoscientific studies and can be used with all present and planned Mars‐orbiting scanner cameras. Photogrammetric analysis of MOC stereopairs yields DEMs with 3‐pixel (typically 10 m) horizontal resolution, vertical precision consistent with ∼0.22 pixel matching errors (typically a few meters), and slope errors of 1–3°. These DEMs are controlled to the Mars Orbiter Laser Altimeter (MOLA) global data set and consistent with it at the limits of resolution. Photoclinometry yields DEMs with single‐pixel (typically ∼3 m) horizontal resolution and submeter vertical precision. Where the surface albedo is uniform, the dominant error is 10–20% relative uncertainty in the amplitude of topography and slopes after “calibrating” photoclinometry against a stereo DEM to account for the influence of atmospheric haze. We mapped portions of seven candidate MER sites and the Mars Pathfinder site. Safety of the final four sites (Elysium, Gusev, Isidis, and Meridiani) was assessed by mission engineers by simulating landings on our DEMs of “hazard units” mapped in the sites, with results weighted by the probability of landing on those units; summary slope statistics show that most hazard units are smooth, with only small areas of etched terrain in Gusev crater posing a slope hazard.

Journal of Geophysical Research E: Planets↗