3D multi-resolution mapping of Mars using CASP-GO ON HRSC, CRISM, CTX and HIRISE

Automated large-scale retrieval of stereo photogrammetric DTMs of Mars fall into three categories: use of COTS software such as BAE-SOCET®; private software such as the DLR-VICAR software suite and open source solutions such as the NASA Ames Stereo Pipeline (ASP). We describe here a novel open source system developed on the back of ASP known as CASP-GO (Tao et al., 2018) which has automated and extended ASP to be able to be applied to all modern single-pass or repeat-pass stereo photogrammetric datasets from 21st century systems such as HRSC, CTX and HiRISE, CASP-GO also includes an automated co-registration system which employs HRSC (itself linked to MOLA) as the base-map upon which all other DTMs are co-registered. We show an example here of this automated co-registration system applied to multi-resolution stacks including CRISM images. Several thousand multi-resolution 3D products, Digital Terrain Models (DTMs) and their corresponding orthorectified images (ORIs) have been generated and used in a wide variety of scientific studies, a few examples of which are shown here. Finally, a new method distributing these products providing long-term archiving and ease of access using DOIs is shown employing the ESA-PSA Guest Storage Facility and their corresponding display within the iMars webGIS system

Ultra-High-Resolution 1 m/pixel CaSSIS DTM Using Super-Resolution Restoration and Shape-from-Shading: Demonstration over Oxia Planum on Mars

We introduce a novel ultra-high-resolution Digital Terrain Model (DTM) processing system using a combination of photogrammetric 3D reconstruction, image co-registration, image super-resolution restoration, shape-from-shading DTM refinement, and 3D co-alignment methods. Technical details of the method are described, and results are demonstrated using a 4 m/pixel Trace Gas Orbiter Colour and Stereo Surface Imaging System (CaSSIS) panchromatic image and an overlapping 6 m/pixel Mars Reconnaissance Orbiter Context Camera (CTX) stereo pair to produce a 1 m/pixel CaSSIS Super-Resolution Restoration (SRR) DTM for different areas over Oxia Planum on Mars—the future ESA ExoMars 2022 Rosalind Franklin rover’s landing site. Quantitative assessments are made using profile measurements and the counting of resolvable craters, in comparison with the publicly available 1 m/pixel High-Resolution Imaging Experiment (HiRISE) DTM. These assessments demonstrate that the final resultant 1 m/pixel CaSSIS DTM from the proposed processing system has achieved comparable and sometimes more detailed 3D reconstruction compared to the overlapping HiRISE DT

Subpixel-Scale Topography Retrieval of Mars Using Single-Image DTM Estimation and Super-Resolution Restoration

We propose using coupled deep learning based super-resolution restoration (SRR) and single-image digital terrain model (DTM) estimation (SDE) methods to produce subpixel-scale topography from single-view ESA Trace Gas Orbiter Colour and Stereo Surface Imaging System (CaSSIS) and NASA Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (HiRISE) images. We present qualitative and quantitative assessments of the resultant 2 m/pixel CaSSIS SRR DTM mosaic over the ESA and Roscosmos Rosalind Franklin ExoMars rover’s (RFEXM22) planned landing site at Oxia Planum. Quantitative evaluation shows SRR improves the effective resolution of the resultant CaSSIS DTM by a factor of 4 or more, while achieving a fairly good height accuracy measured by root mean squared error (1.876 m) and structural similarity (0.607), compared to the ultra-high-resolution HiRISE SRR DTMs at 12.5 cm/pixel. We make available, along with this paper, the resultant CaSSIS SRR image and SRR DTM mosaics, as well as HiRISE full-strip SRR images and SRR DTMs, to support landing site characterisation and future rover engineering for the RFEXM22

Subpixel-Scale Topography Retrieval of Mars Using Single-Image DTM Estimation and Super-Resolution Restoration

We propose using coupled deep learning based super-resolution restoration (SRR) and single-image digital terrain model (DTM) estimation (SDE) methods to produce subpixel-scale topography from single-view ESA Trace Gas Orbiter Colour and Stereo Surface Imaging System (CaSSIS) and NASA Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (HiRISE) images. We present qualitative and quantitative assessments of the resultant 2 m/pixel CaSSIS SRR DTM mosaic over the ESA and Roscosmos Rosalind Franklin ExoMars rover’s (RFEXM22) planned landing site at Oxia Planum. Quantitative evaluation shows SRR improves the effective resolution of the resultant CaSSIS DTM by a factor of 4 or more, while achieving a fairly good height accuracy measured by root mean squared error (1.876 m) and structural similarity (0.607), compared to the ultra-high-resolution HiRISE SRR DTMs at 12.5 cm/pixel. We make available, along with this paper, the resultant CaSSIS SRR image and SRR DTM mosaics, as well as HiRISE full-strip SRR images and SRR DTMs, to support landing site characterisation and future rover engineering for the RFEXM22

Hydrothermal Alteration of Ultramafic Rocks in Ladon Basin, Mars—Insights From CaSSIS, HiRISE, CRISM, and CTX

The evolution of the Ladon basin has been marked by intense geological activity and the discharge of huge volumes of water from the Martian highlands to the lowlands in the late Noachian and Hesperian. We explore the potential of the ExoMars Trace Gas Orbiter/Color and Stereo Surface Imaging System color image data set for geological interpretation and show that it is particularly effective for geologic mapping in combination with other data sets such as HiRISE, Context, and Compact Reconnaissance Imaging Spectrometer for Mars. The study area displays dark lobate flows of upper Hesperian to early Amazonian age, which were likely extruded from a regional extensional fault network. Spectral analysis suggests that these flows and the underlying rocks are ultramafic. Two distinct altered levels are observed below the lobate flows. The upper, yellow-orange level shows hundreds of structurally controlled narrow ridges reminiscent of ridges of listwanite, a suite of silicified, fracture-controlled silica-carbonate rocks derived from an ultramafic source and from serpentine. In addition to serpentinite, the detected mineral assemblages may include chlorite, carbonates, and talc. Kaolin minerals are detected in the lower, white level, which could have formed by groundwater alteration of plagioclase in the volcanic pile. Volcanism, tectonics, hydrothermal activity, and kaolinization are interpreted to be coeval, with hydrothermal activity and kaolinization controlled by the interactions between the aquifer and the hot, ultramafic lobate flows. Following our interpretations, East Ladon may host the first listwanite ridges described on Mars, involving a hydrothermal system rooted in a Hesperian aquifer and affecting ultramafic rocks from a magmatic source yet to be identified

Rapid Single Image-Based DTM Estimation from ExoMars TGO CaSSIS Images Using Generative Adversarial U-Nets

The lack of adequate stereo coverage and where available, lengthy processing time, various artefacts, and unsatisfactory quality and complexity of automating the selection of the best set of processing parameters, have long been big barriers for large-area planetary 3D mapping. In this paper, we propose a deep learning-based solution, called MADNet (Multi-scale generative Adversarial u-net with Dense convolutional and up-projection blocks), that avoids or resolves all of the above issues. We demonstrate the wide applicability of this technique with the ExoMars Trace Gas Orbiter Colour and Stereo Surface Imaging System (CaSSIS) 4.6 m/pixel images on Mars. Only a single input image and a coarse global 3D reference are required, without knowing any camera models or imaging parameters, to produce high-quality and high-resolution full-strip Digital Terrain Models (DTMs) in a few seconds. In this paper, we discuss technical details of the MADNet system and provide detailed comparisons and assessments of the results. The resultant MADNet 8 m/pixel CaSSIS DTMs are qualitatively very similar to the 1 m/pixel HiRISE DTMs. The resultant MADNet CaSSIS DTMs display excellent agreement with nested Mars Reconnaissance Orbiter Context Camera (CTX), Mars Express’s High-Resolution Stereo Camera (HRSC), and Mars Orbiter Laser Altimeter (MOLA) DTMs at large-scale, and meanwhile, show fairly good correlation with the High-Resolution Imaging Science Experiment (HiRISE) DTMs for fine-scale details. In addition, we show how MADNet outperforms traditional photogrammetric methods, both on speed and quality, for other datasets like HRSC, CTX, and HiRISE, without any parameter tuning or re-training of the model. We demonstrate the results for Oxia Planum (the landing site of the European Space Agency’s Rosalind Franklin ExoMars rover 2023) and a couple of sites of high scientific interest

Hydrothermal Alteration of Ultramafic Rocks in Ladon Basin, Mars - Insights From CaSSIS, HiRISE, CRISM, and CTX

The evolution of the Ladon basin has been marked by intense geological activity and the discharge of huge volumes of water from the Martian highlands to the lowlands in the late Noachian and Hesperian. We explore the potential of the ExoMars Trace Gas Orbiter/Color and Stereo Surface Imaging System color image data set for geological interpretation and show that it is particularly effective for geologic mapping in combination with other data sets such as HiRISE, Context, and Compact Reconnaissance Imaging Spectrometer for Mars. The study area displays dark lobate flows of upper Hesperian to early Amazonian age, which were likely extruded from a regional extensional fault network. Spectral analysis suggests that these flows and the underlying rocks are ultramafic. Two distinct altered levels are observed below the lobate flows. The upper, yellow-orange level shows hundreds of structurally controlled narrow ridges reminiscent of ridges of listwanite, a suite of silicified, fracture-controlled silica-carbonate rocks derived from an ultramafic source and from serpentine. In addition to serpentinite, the detected mineral assemblages may include chlorite, carbonates, and talc. Kaolin minerals are detected in the lower, white level, which could have formed by groundwater alteration of plagioclase in the volcanic pile. Volcanism, tectonics, hydrothermal activity, and kaolinization are interpreted to be coeval, with hydrothermal activity and kaolinization controlled by the interactions between the aquifer and the hot, ultramafic lobate flows. Following our interpretations, East Ladon may host the first listwanite ridges described on Mars, involving a hydrothermal system rooted in a Hesperian aquifer and affecting ultramafic rocks from a magmatic source yet to be identified

Small-Scale Topographical Characterization of the Martian Surface With In-Orbit Imagery

International audienceWe present a new method applying photoclinometry on photogrammetric coarse products in order to produce high quality, large Digital Elevation Models (DEMs) from images of Mars acquired by the Context Camera (CTX) and the High Resolution Imaging Science Experiment (HiRISE) of the Mars Reconnaissance Orbiter. The method integrates an intensity model of the image based on a novel radiative transfer scheme and a realistic bidirectional reflectance distribution function (BRDF) model of the surface. Two carefully crafted regularization terms are also introduced ensuring the smoothness of the solution and the consistency with the photogrammetric information at large scales. The regularized inversion of the model based on an efficient numerical optimization scheme allows the method to recover details missing or degraded in the photogrammetrically generated DEMs. In addition for processing challenging scenes a coarse-to-fine strategy is put forward. The refined DEMs are validated and carefully characterized by multi-scale analysis. The method insures a spatial resolution that is comparable to that of the imagery and allows measuring heights with a relative precision down to 15 centimeters with HiRISE imagery

On Martian Surface Exploration: Development of Automated 3D Reconstruction and Super-Resolution Restoration Techniques for Mars Orbital Images

Very high spatial resolution imaging and topographic (3D) data play an important role in modern Mars science research and engineering applications. This work describes a set of image processing and machine learning methods to produce the “best possible” high-resolution and high-quality 3D and imaging products from existing Mars orbital imaging datasets. The research work is described in nine chapters of which seven are based on separate published journal papers. These include a) a hybrid photogrammetric processing chain that combines the advantages of different stereo matching algorithms to compute stereo disparity with optimal completeness, fine-scale details, and minimised matching artefacts; b) image and 3D co-registration methods that correct a target image and/or 3D data to a reference image and/or 3D data to achieve robust cross-instrument multi-resolution 3D and image co-alignment; c) a deep learning network and processing chain to estimate pixel-scale surface topography from single-view imagery that outperforms traditional photogrammetric methods in terms of product quality and processing speed; d) a deep learning-based single-image super-resolution restoration (SRR) method to enhance the quality and effective resolution of Mars orbital imagery; e) a subpixel-scale 3D processing system using a combination of photogrammetric 3D reconstruction, SRR, and photoclinometric 3D refinement; and f) an optimised subpixel-scale 3D processing system using coupled deep learning based single-view SRR and deep learning based 3D estimation to derive the best possible (in terms of visual quality, effective resolution, and accuracy) 3D products out of present epoch Mars orbital images. The resultant 3D imaging products from the above listed new developments are qualitatively and quantitatively evaluated either in comparison with products from the official NASA planetary data system (PDS) and/or ESA planetary science archive (PSA) releases, and/or in comparison with products generated with different open-source systems. Examples of the scientific application of these novel 3D imaging products are discussed