Geology topics

Robin L. Fergason

Publications and source records attributed to Robin L. Fergason.

16 recordsLinked to original sources

USGS2021

How well do we know Europa’s topography? An evaluation of the variability in digital terrain models of Europa.

Jupiter’s moon Europa harbors one of the most likely environments for extant extraterrestrial life. Determining whether Europa is truly habitable requires understanding the structure and thickness of its ice shell, including the existence of perched water or brines. Stereo-derived topography from images acquired by NASA Galileo’s Solid State Imager (SSI) of Europa are often used as a constraint on ice shell structure and heat flow, but the uncertainty in such topography has, to date, not been rigorously assessed. To evaluate the current uncertainty in Europa’s topography we generated and compared digital terrain models (DTMs) of Europa from SSI images using both the open-source Ames Stereo Pipeline (ASP) software and the commercial SOCET SET ® software. After first describing the criteria for assessing stereo quality in detail, we qualitatively and quantitatively describe both the horizontal resolution and vertical precision of the DTMs. We find that the horizontal resolution of the SOCET SET ® DTMs is typically 8–11× the root mean square (RMS) pixel scale of the images, whereas the resolution of the ASP DTMs is 9–13× the maximum pixel scale of the images. We calculate the RMS difference between the ASP and SOCET SET ® DTMs as a proxy for the expected vertical precision (EP), which is a function of the matching accuracy and stereo geometry. We consistently find that the matching accuracy is ~0.5 pixels, which is larger than well-established “rules of thumb” that state that the matching accuracy is 0.2–0.3 pixels. The true EP is therefore ~1.7× larger than might otherwise be assumed. In most cases, DTM errors are approximately normally distributed, and errors that are several times the derived EP occur as expected. However, in two DTMs, larger errors (differences) occur and correlate with real topography. These differences primarily result from manual editing of the SOCET SET ® DTMs. The product of the DTM error and the resolution is typically 4–8 pixel 2 if calculated using the RMS image scale for SOCET SET ® DTMs and the maximum images scale for the ASP DTMs, which is consistent with recent work using martian data sets and suggests that the relationship applies more broadly. We evaluate how ASP parameters affect DTM quality and find that using a smaller subpixel refinement kernel results in DTMs with smaller (better) resolution but, in some cases, larger gaps, which are sometimes reduced by increasing the size of the correlation kernel. We conclude that users of ASP should always systematically evaluate the choice of parameters for a given dataset.

Remote Sensing↗

USGS2021

Evaluating stereo digital terrain model quality at Mars Rover Landing Sites with HRSC, CTX, and HiRISE Images

We have used high-resolution digital terrain models (DTMs) of two rover landing sites based on mosaicked images from the High-Resolution Imaging Science Experiment (HiRISE) camera as a reference to evaluate DTMs based on High-Resolution Stereo Camera (HRSC) and Context Camera (CTX) images. The Next-Generation Automatic Terrain Extraction (NGATE) matcher in the SOCET SET and GXP® commercial photogrammetric systems produces DTMs with good (small) horizontal resolution but large vertical error. Somewhat surprisingly, results for NGATE are terrain dependent, with poorer resolution and smaller errors on smoother surfaces. Multiple approaches to smoothing the NGATE DTMs give similar tradeoffs between resolution and error; a 5 × 5 lowpass filter is near optimal in terms of both combined resolution-error performance and local slope estimation. Smoothing with an area-based matcher, the standard processing for U.S. Geological Survey planetary DTMs, yields similar errors to the 5 × 5 filter at slightly worse resolution. DTMs from the HRSC team processing pipeline fall within this same trade space but are less sensitive to terrain roughness. DTMs produced with the Ames Stereo Pipeline also fall in this space at resolutions intermediate between NGATE and the team pipeline. Considered individually, resolution and error each varied by approximately a factor of 2. Matching errors were 0.2–0.5 pixels but most results fell in the 0.2–0.3 pixel range that has been stated as a rule of thumb in multiple prior studies. Horizontal resolutions of 10–20 image pixels were found, consistently greater than the 3–5 pixel spacing generally used for stereo DTM production. Resolution and precision were inversely correlated; their product varied by ≤20% (4–5 pixels squared). Refinement of the stereo DTM by photoclinometry can yield quantitative improvement in resolution (more than a factor of 2), provided that albedo variations over distances smaller than the stereo DTM resolution are not too severe. We offer specific guidance for both producers and users of planetary stereo DTMs, based on our results.

Remote Sensing↗

USGS2021

Further adventures in Mars DTM quality: Smoothing errors, sharpening details

We have used high-precision, high-resolution digital terrain models (DTMs) of the NASA Mars Science Laboratory (MSL) and Mars 2020 rover landing sites based on mosaicked images from the Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (MRO HiRISE) camera as a reference data set to evaluate DTMs based on Mars Express High Resolution Stereo Camera (MEX HRSC) images. The Next Generation Automatic Terrain Extraction (NGATE) matcher in the SOCET SET/GXP † commercial photogrammetric system produces DTMs with relatively good (small) horizontal resolution but high error, and results are terrain dependent, with poorer resolution and smaller errors on smoother surfaces. Multiple approaches to smoothing the NGATE DTMs give very similar tradeoffs between resolution and error. Smoothing the NGATE DTMs with a single pass of an area-based matcher, which has been the standard approach to generating planetary DTMs at the U.S. Geological Survey (USGS) to date is probably near-optimal in terms of both combined resolution-error performance and local slope estimation, but smoothing with a 5x5 lowpass filter performs as well or better. DTMs from the HRSC team processing pipeline fall within this same trade space but are less sensitive to terrain roughness. DTMs produced with the Ames Stereo Pipeline also fall in this space at resolutions intermediate between NGATE and the team pipeline. Although DTM resolution and error each vary by a factor of two, their product is much more consistent, varying by <20% across multiple image sets and matching algorithms. Refinement of the stereo DTM by photoclinometry can yield significant quantitative improvement in resolution and some improvement in error (improving their product by as much as a factor of two), provided that albedo variations over distances smaller than the stereo DTM resolution are not too severe.

Conference Paper↗

USGS2020

Evaluating stereo DTM quality at Jezero Crater, Mars with HRSC, CTX, and HiRISE images

We have used a high-precision, high-resolution digital terrain model (DTM) of the NASA Mars 2020 rover Perseverance landing site in Jezero crater based on mosaicked images from the Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (MRO HiRISE) camera as a reference dataset to evaluate DTMs based on Mars Express High Resolution Stereo Camera (MEX HRSC) and MRO Context camera (CTX) images. Results are consistent with our earlier HRSC-HiRISE comparisons at the Mars Science Laboratory (MSL) Curiosity landing site in Gale crater, confirming that those results were not compromised by the small area compared and potential problems with spatial registration. Specifically, height errors are on the order of half a pixel and correspond to an image matching error of 0.2–0.3 pixel but estimates of horizontal resolution are 10–20 pixels. Products from the HRSC team pipeline at DLR are smoother but more precise vertically than those produced by using the commercial stereo package SOCET SET®. The DLR products are also homogenous in quality, whereas the SOCET products are less smoothed and have higher errors in rougher terrain. Despite this weak variation, our results are consistent with a rule of thumb of 0.2–0.3 pixel matching precision based on many prior studies. Horizontal resolution is significantly coarser than the DTM ground sample distance (GSD), which is typically 3–5 pixels.

Conference Paper↗

USGS2018

Degradation of 100‐m‐scale rocky ejecta craters at the InSight Landing Site on Mars and implications for surface processes and erosion rates in the hesperian and amazonian

Rocky ejecta craters (RECs) at the Interior Exploration using Seismic Investigations, Geodesy and Heat Transport (InSight) landing site on Elysium Planitia, Mars, provide constraints on crater modification and rates for the Hesperian and Amazonian. The RECs are between 10 m and 1.2 km in diameter and exhibit five classes of preservation. Class 1 represents pristine craters with sharp rims and abundant ejected rocks. From Classes 2 to 5, rims become more subdued, craters are infilled, and the ejecta become discontinuously distributed. High‐Resolution Imaging Science Experiment digital elevation models indicate a maximum depth to diameter ratio of ~0.15, which is lower than pristine models for craters of similar size. The low ratio is related to the presence of a loosely consolidated regolith and early‐stage eolian infill. Rim heights have an average height to diameter ratio of ~0.03 for the most pristine class. The size‐frequency distribution of RECs, plotted using cumulative and differential methods, indicates that crater classes within the diameter range of 200 m to 1.2 km are separated by ~100 to 200 Myr. Smaller craters degrade faster, with classes separated by <100 Myr. Rim erosion can be entirely modeled by nonlinear diffusional processes using the calculated timescales and a constant diffusivity of 8 × 10 −7 m 2 /year for craters 200 to 500 m in diameter. Diffusion models only partly capture depth‐related degradation, which requires eolian infill. Depth degradation and rim erosion rates are 10 −2 to 10 −3 m/Myr, respectively. The rates are consistent with relatively slow modification that is typical of the last two epochs of Martian history.

Journal of Geophysical Research - Planets↗

USGS2018

The thermophysical properties of the Bagnold Dunes, Mars: Ground truthing orbital data

We compare the thermophysical properties and particle sizes derived from the Mars Science Laboratory rover's Ground Temperature Sensor of the Bagnold dunes, specifically Namib dune, to those derived orbitally from Thermal Emission Imaging System, ultimately linking these measurements to ground truth particle sizes determined from Mars Hand Lens Imager images. In general, we find that all three datasets report consistent particle sizes for the Bagnold dunes (~110–350 μm and are within measurement and model uncertainties), indicating that particle sizes of homogeneous materials inferred from temperature measurements and thermophysical models are reliable. Furthermore, we examine the effects of two physical characteristics that could influence the modeled thermal inertia and particle sizes, including (1) fine‐scale (centimeter to meter scale) ripples and (2) thin layering of indurated/armored materials. To first order, we find that small‐scale ripples and thin (approximately centimeter scale) layers do not significantly affect the determination of bulk thermal inertia from orbital thermal data using a single nighttime temperature. Modeling of a layer of coarse or indurated material reveals that a thin layer (< ~5 mm; similar to what was observed by the Curiosity rover) would not significantly change the observed thermal properties of the surface and would be dominated by the properties of the underlying material. Thermal inertia and particle sizes of relatively homogeneous materials derived from nighttime orbital data should be considered as reliable, as long as there are no significant subpixel anisothermality effects (e.g., lateral mixing of multiple thermophysically distinct materials).

Journal of Geophysical Research: Planets↗

USGS2017

Towards a planetary spatial data infrastructure

Planetary science is the study of planets, moons, irregular bodies such as asteroids and the processes that create and modify them. Like terrestrial sciences, planetary science research is heavily dependent on collecting, processing and archiving large quantities of spatial data to support a range of activities. To address the complexity of storing, discovering, accessing, and utilizing spatial data, the terrestrial research community has developed conceptual Spatial Data Infrastructure (SDI) models and cyberinfrastructures. The needs that these systems seek to address for terrestrial spatial data users are similar to the needs of the planetary science community: spatial data should just work for the non-spatial expert. Here we discuss a path towards a Planetary Spatial Data Infrastructure (PSDI) solution that fulfills this primary need. We first explore the linkage between SDI models and cyberinfrastructures, then describe the gaps in current PSDI concepts, and discuss the overlap between terrestrial SDIs and a new, conceptual PSDI that best serves the needs of the planetary science community.

ISPRS International Journal of Geo-Information↗

USGS2016

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 ( ≤ − 2.5   km "> ≤ − 2.5 km ≤−2.5 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.

Space Science Reviews↗

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↗

USGS2016

Modeling martian thermal inertia in a distributed memory high performance computing environment

Modeling martian surface properties fusing high resolution, spatially enabled, remotely sensed data and derived thermophysical modeling is an essential tool for surface property characterization studies. In this work, we describe the development of a thermal inertia modeling tool that integrates the KRC thermal model and a nine-dimensional parameter interpolation with inputs draw from remotely sensed data. Our model is classifiable as operating in both the Big Data and Big Process domains. We utilize the KRC thermal model to generate a dense lookup table. We show that the overall size of the lookup table necessary to derive thermal inertia can be reduced, through sampling, by approximately 82% while maintaining a high level of accuracy at those regions of the parameter space where thermal inertia is most frequently derived. This level of data reduction supports the distributed, in-memory application of our model and we illustrate the computational performance through a classic scaling experiment. This work extends previous modeling efforts by allowing for pixel scale thermal inertia modeling at the highest spatial scales allowed, and enabling surface properties investigations at spatial scales relevant to addressing high-priority science and engineering questions.

Conference Paper↗

USGS2014

Small crater modification on Meridiani Planum and implications for erosion rates and climate change on Mars

A morphometric and morphologic catalog of ~100 small craters imaged by the Opportunity rover over the 33.5 km traverse between Eagle and Endeavour craters on Meridiani Planum shows craters in six stages of degradation that range from fresh and blocky to eroded and shallow depressions ringed by planed off rim blocks. The age of each morphologic class from <50–200 ka to ~20 Ma has been determined from the size-frequency distribution of craters in the catalog, the retention age of small craters on Meridiani Planum, and the age of the latest phase of ripple migration. The rate of degradation of the craters has been determined from crater depth, rim height, and ejecta removal over the class age. These rates show a rapid decrease from ~1 m/Myr for craters < 1 Ma to ~ <0.1 m/Myr for craters 10–20 Ma, which can be explained by topographic diffusion with modeled diffusivities of ~10 −6  m 2 /yr. In contrast to these relatively fast, short-term erosion rates, previously estimated average erosion rates on Mars over ~100 Myr and 3 Gyr timescales from the Amazonian and Hesperian are of order < 0.01 m/Myr, which is 3–4 orders of magnitude slower than typical terrestrial rates. Erosion rates during the Middle-Late Noachian averaged over ~250 Myr, and ~700 Myr intervals are around 1 m/Myr, comparable to slow terrestrial erosion rates calculated over similar timescales. This argues for a wet climate before ~3 Ga in which liquid water was the erosional agent, followed by a dry environment dominated by slow eolian erosion.

Journal of Geophysical Research E: Planets↗

USGS2014

Hematite-bearing materials surrounding Candor Mensa in Candor Chasma, Mars: Implications for hematite origin and post-emplacement modification

The Valles Marineris canyon system on Mars is of enduring scientific interest in part due to the presence of interior mounds that contain extensive layering and water-altered minerals, such as crystalline gray hematite and hydrated sulfates. The presence of hematite and hydrated sulfate minerals is important because their host rock lithologies provide information about past environments that may have supported liquid water and may have been habitable. This work further defines the association and relationship between hematite-bearing materials and low albedo (presumably aeolian) deposits and layered materials, identifies physical characteristics that are strongly correlated with the presence of hematite, and refines hypotheses for the origin and post-emplacement modification (including transport) of these hematite-bearing and associated materials. There are only three regions surrounding Candor Mensa where hematite has been identified, even though morphologic properties are similar throughout the entire mensa. Three possible explanations for why hematite is only exposed in these regions include: (1) the topographic structure of the mensa walls concentrates hematite at the base of the layered deposits, influencing the ability to detect hematite from orbit; (2) the presence of differing amounts of “dark mantling material” and hematite-free erosional sediment; (3) the potential fracturing of the mensa and the influence of these structures on fluid flow and subsequent digenesis. The observations of hematite-bearing materials in this work support the hypothesis that hematite is eroding from a unit in the Candor Mensa interior layered deposits (ILD) and is being concentrated as a lag deposit adjacent to the lower layers of Candor Mensa and at the base in the form of dark aeolian material. Due to the similar geologic context associated with hematite-bearing and ILD materials throughout the Valles Marineris canyon system, the insight gained from studying these materials surrounding Candor Mensa can likely be applicable to similar layered deposits throughout Valles Marineris.

Icarus↗

USGS2012

Selection of the Mars Science Laboratory landing site

The selection of Gale crater as the Mars Science Laboratory landing site took over five years, involved broad participation of the science community via five open workshops, and narrowed an initial >50 sites (25 by 20 km) to four finalists (Eberswalde, Gale, Holden and Mawrth) based on science and safety. Engineering constraints important to the selection included: (1) latitude (±30°) for thermal management of the rover and instruments, (2) elevation (<-1 km) for sufficient atmosphere to slow the spacecraft, (3) relief of <100-130 m at baselines of 1-1000 m for control authority and sufficient fuel during powered descent, (4) slopes of <30° at baselines of 2-5 m for rover stability at touchdown, (5) moderate rock abundance to avoid impacting the belly pan during touchdown, and (6) a radar-reflective, load-bearing, and trafficable surface that is safe for landing and roving and not dominated by fine-grained dust. Science criteria important for the selection include the ability to assess past habitable environments, which include diversity, context, and biosignature (including organics) preservation. Sites were evaluated in detail using targeted data from instruments on all active orbiters, and especially Mars Reconnaissance Orbiter. All of the final four sites have layered sedimentary rocks with spectral evidence for phyllosilicates that clearly address the science objectives of the mission. Sophisticated entry, descent and landing simulations that include detailed information on all of the engineering constraints indicate all of the final four sites are safe for landing. Evaluation of the traversabilty of the landing sites and target “go to” areas outside of the ellipse using slope and material properties information indicates that all are trafficable and “go to” sites can be accessed within the lifetime of the mission. In the final selection, Gale crater was favored over Eberswalde based on its greater diversity and potential habitability.

Space Science Reviews↗

USGS2011

Regional-scale stratigraphy of surface units in Tyrrhena and Iapygia Terrae, Mars: Insights into highland crustal evolution and alteration history

The compositional, thermophysical and geologic characteristics of surface units in Iapygia and Tyrrhena Terra (60°E–100°E, 0°–30°S) provide new insights into the compositional stratigraphy of the region. Intercrater plains are dominated by two surface units. The older unit (unit 1) is deficient in olivine and more degraded and likely consists of a mixture of impact, volcanic and sedimentary materials. The younger unit (unit 2) is enriched in olivine, exhibits a resistant morphology and higher thermal inertia, and likely represents volcanic infilling of plains. Units 1 and 2 bear a strong resemblance to those previously mapped in Mare Serpentis, a section of highlands crust located northwest of Hellas Basin. Thus, the two major intercrater plains units are even more widespread than previously thought and therefore likely constitute important components of Mars' highland stratigraphy. Many craters in the region contain high thermal inertia deposits (unit 3) that are compositionally identical to unit 2. These may have formed via volcanic infilling or may represent sedimentary materials that have been eroded from crater walls and lithified. Less common units include olivine and/or pyroxene‐rich massifs and crater central peaks. These are primarily found within Hellas Basin rim units and may represent mantle materials brought toward the surface during the Hellas impact. Putative chloride deposits are primarily associated with olivine‐deficient surfaces (unit 1) that may be heavily degraded occurrences of unit 2. The observations raise a variety of questions related to Martian crustal evolution and alteration that may have more widespread implications outside the study region.

Journal of Geophysical Research - Planets↗

USGS2011

Opportunity Mars Rover mission: Overview and selected results from Purgatory ripple to traverses to Endeavour crater

Opportunity has been traversing the Meridiani plains since 25 January 2004 (sol 1), acquiring numerous observations of the atmosphere, soils, and rocks. This paper provides an overview of key discoveries between sols 511 and 2300, complementing earlier papers covering results from the initial phases of the mission. Key new results include (1) atmospheric argon measurements that demonstrate the importance of atmospheric transport to and from the winter carbon dioxide polar ice caps; (2) observations showing that aeolian ripples covering the plains were generated by easterly winds during an epoch with enhanced Hadley cell circulation; (3) the discovery and characterization of cobbles and boulders that include iron and stony-iron meteorites and Martian impact ejecta; (4) measurements of wall rock strata within Erebus and Victoria craters that provide compelling evidence of formation by aeolian sand deposition, with local reworking within ephemeral lakes; (5) determination that the stratigraphy exposed in the walls of Victoria and Endurance craters show an enrichment of chlorine and depletion of magnesium and sulfur with increasing depth. This result implies that regional-scale aqueous alteration took place before formation of these craters. Most recently, Opportunity has been traversing toward the ancient Endeavour crater. Orbital data show that clay minerals are exposed on its rim. Hydrated sulfate minerals are exposed in plains rocks adjacent to the rim, unlike the surfaces of plains outcrops observed thus far by Opportunity. With continued mechanical health, Opportunity will reach terrains on and around Endeavour's rim that will be markedly different from anything examined to date.

Journal of Geophysical Research E: Planets↗

USGS2008

First in situ investigation of a dark wind streak on Mars

Prominent low‐albedo wind streaks issue from embayments at the north end of Victoria crater in Meridiani Planum, the site of surface investigations by the Mars Exploration Rover Opportunity. Opportunity was sent to examine the darkest of these wind streaks and compare it to the adjacent soil in the brighter corridor between the streaks. Two nearby sites inside and outside of the streak were selected for visible and infrared remote sensing and for elemental abundance measurements and images of the microscopic soil morphology. The rover was next sent to study the interaction of the wind streak with an obstacle, a small rock near the source of the streak. Opportunity's observations suggest that the Victoria wind streaks are deposits of basaltic sand blown out of the crater from the dark dunes nestled below the crater rim, particularly at the base of the alcove leading up to the darkest streak. No local sources of sand have been identified within the Victoria crater wall rock, suggesting that the sand is supplied from outside the crater and is presently escaping its temporary topographic trap. This process presents a possible explanation for the serrated margin of Victoria crater through abrasion of the soft rock as trapped sands are blown out of the crater and carve alcoves under various seasonal winds. Some indication of the rate of activity of these wind streaks will be provided by continued monitoring of the erasure of the rover's tracks.

Journal of Geophysical Research E: Planets↗