Geometrical Calibration for the Panrover: a Stereo Omnidirectional System for Planetary Rover

Abstract. A novel panoramic stereo imaging system is proposed in this paper. The system is able to carry out a 360° stereoscopic vision, useful for rover autonomous-driving, and capture simultaneously a high-resolution stereo scene. The core of the concept is a novel "bifocal panoramic lens" (BPL) based on hyper hemispheric model (Pernechele et al. 2016). This BPL is able to record a panoramic field of view (FoV) and, simultaneously, an area (belonging to the panoramic FoV) with a given degree of magnification by using a unique image sensor. This strategy makes possible to avoid rotational mechanisms. Using two BPLs settled in a vertical baseline (system called PANROVER) allows the monitoring of the surrounding environment in stereoscopic (3D) mode and, simultaneously, capturing an high-resolution stereoscopic images to analyse scientific cases, making it a new paradigm in the planetary rovers framework.Differently from the majority of the Mars systems which are based on rotational mechanisms for the acquisition of the panoramic images (mosaicked on ground), the PANROVER does not contain any moving components and can rescue a hi-rate stereo images of the context panorama.Scope of this work is the geometric calibration of the panoramic acquisition system by the omnidirectional calibration methods (Scaramuzza et al. 2006) based on Zhang calibration grid. The procedures are applied in order to obtain well rectified synchronized stereo images to be available for 3D reconstruction. We applied a Zhang chess boards based approach even during STC/SIMBIO-SYS stereo camera calibration (Simioni et al. 2014, 2017). In this case the target of the calibration will be the stereo heads (the BPLs) of the PANROVER with the scope of extracting the intrinsic parameters of the optical systems. Differently by previous pipelines, using the same data bench the estimate of the extrinsic parameters is performed

PERFORMANCE EVALUATION OF 3DPD, THE PHOTOGRAMMETRIC PIPELINE FOR THE CASSIS STEREO IMAGES

A novel photogrammetric pipeline has been designed by INAF-Padova for the processing of the recent stereo images of CaSSIS and it will be a starting point for the future procedures that will be applied to Stereo Camera (STC) (Cremonese, 2009; Da Deppo, 2010) images for the BepiColombo mission to Mercury. The large number of stereo pairs being generated has made it necessary that several teams attempt to generate products. The presented procedures are the two strategies (proposed by INAF-PADOVA and by EPFLLausanne) available nowadays in an international attempt to generate 3D products from the CaSSIS images. The comparisons here presented will be the first of several such efforts and are important to make the planetary community aware of the accuracy of the 3D data available. Furthermore, the possibility to consider higher accuracy DTMs as the ones of HiRISE makes the quality assessment of stereo products of CaSSIS robust and important for the assessment of data to be provided to the scientific community. The performance evaluation of the INAF-Padova pipeline (3DPD software) is the main objectives of this work. Additionally, the comparison between the correlation phase of 3DPD and of ASP (Moratto, 2010) that is integrated in the EPFL pipeline has been considered

Warming permafrost and active layer variability at Cime Bianche, Western European Alps

The objective of this paper is to provide a first synthesis on the state and recent evolution of permafrost at the monitoring site of Cime Bianche (3100 m a.s.l.) on the Italian side of the Western Alps. The analysis is based on 7 years of ground temperature observations in two boreholes and seven surface points. The analysis aims to quantify the spatial and temporal variability of ground surface temperature in relation to snow cover, the small-scale spatial variability of the active layer thickness and current temperature trends in deep permafrost.Results show that the heterogeneity of snow cover thickness, both in space and time, is the main factor controlling ground surface temperatures and leads to a mean range of spatial variability (2.5 ± 0.1 °C) which far exceeds the mean range of observed inter-annual variability (1.6 ± 0.1 °C). The active layer thickness measured in two boreholes at a distance of 30 m shows a mean difference of 2.0 ± 0.1 m with the active layer of one borehole consistently deeper. As revealed by temperature analysis and geophysical soundings, such a difference is mainly driven by the ice/water content in the sub-surface and not by the snow cover regimes. The analysis of deep temperature time series reveals that permafrost is warming. The detected trends are statistically significant starting from a depth below 8 m with warming rates between 0.1 and 0.01 °C yr⁻¹

Contrasting responses of forest growth and carbon sequestration to heat and drought in the Alps

>Climate change is expected to increase both the frequency and the intensity of climate extremes, consequently increasing the risk of forest role transition from carbon sequestration to carbon emission. These changes are occurring more rapidly in the Alps, with important consequences for tree species adapted to strong climate seasonality and short growing season. In this study, we aimed at investigating the responses of a high-altitude Larix decidua Mill. forest to heat and drought, by coupling ecosystem- and tree-level measurements. From 2012 to 2018, ecosystem carbon and water fluxes (i.e., gross primary production, net ecosystem exchange, and evapotranspiration) were measured by means of the eddy covariance technique, together with the monitoring of canopy development (i.e., larch phenology and normalized difference vegetation index). From 2015 to 2017 we carried out additional observations at the tree level, including stem growth and its duration, direct phenological observations, sap flow, and tree water deficit. Results showed that the warm spells in 2015 and 2017 caused an advance of the phenological development and, thus, of the seasonal trajectories of many processes, at both tree and ecosystem level. However, we did not observe any significant quantitative changes regarding ecosystem gas exchanges during extreme years. In contrast, in 2017 we found a reduction of 17% in larch stem growth and a contraction of 45% of the stem growth period. The growing season in 2017 was indeed characterized by different drought events and by the highest water deficit during the study years. Due to its multi-level approach, our study provided evidence of the independence between C-source (i.e., photosynthesis) and C-sink (i.e., tree stem growth) processes in a subalpine larch forest

The effects of the target material properties and layering on the crater chronology: the case of Raditladi and Rachmaninoff basins on Mercury

In this paper we present a crater age determination of several terrains associated with the Raditladi and Rachmaninoff basins. These basins were discovered during the first and third MESSENGER flybys of Mercury, respectively. One of the most interesting features of both basins is their relatively fresh appearance. The young age of both basins is confirmed by our analysis on the basis of age determination via crater chronology. The derived Rachmaninoff and Raditladi basin model ages are about 3.6 Ga and 1.1 Ga, respectively. Moreover, we also constrain the age of the smooth plains within the basins' floors. This analysis shows that Mercury had volcanic activity until recent time, possibly to about 1 Ga or less. We find that some of the crater size-frequency distributions investigated suggest the presence of a layered target. Therefore, within this work we address the importance of considering terrain parameters, as geo-mechanical properties and layering, into the process of age determination. We also comment on the likelihood of the availability of impactors able to form basins with the sizes of Rachmaninoff and Raditladi in relatively recent times.Comment: Accepted by PSS, to appear on MESSENGER Flybys special issu

Morphometric analysis of a fresh simple crater on the Moon

In this research we are proposing an innovative method to determine and quantify the morphology of a simple fresh impact crater. Linné is a well preserved impact crater of 2.2 km in diameter, located at 27.7oN 11.8oE, near the western edge of Mare Serenitatis on the Moon. The crater was photographed by the Lunar Orbiter and the Apollo space missions. Its particular morphology may place Linné as the most striking example of small fresh simple crater. Morphometric analysis, conducted on recent high resolution DTM from LROC (NASA), quantitatively confirmed the pristine morphology of the crater, revealing a clear inner layering which highlight a sequence of lava emplacement events

A PHOTOGRAMMETRIC PIPELINE FOR THE 3D RECONSTRUCTION OF CASSIS IMAGES ON BOARD EXOMARS TGO

CaSSIS (Colour and Stereo Surface Imaging System) is the stereo imaging system onboard the European Space Agency and ROSCOSMOS ExoMars Trace Gas Orbiter (TGO) that has been launched on 14 March 2016 and entered a Mars elliptical orbit on 19 October 2016. During the first bounded orbits, CaSSIS returned its first multiband images taken on 22 and 26 November 2016. The telescope acquired 11 images, each composed by 30 framelets, of the Martian surface near Hebes Chasma and Noctis Labyrithus regions reaching at closest approach at a distance of 250 km from the surface. Despite of the eccentricity of this first orbit, CaSSIS has provided one stereo pair with a mean ground resolution of 6 m from a mean distance of 520 km. The team at the Astronomical Observatory of Padova (OAPD-INAF) is involved into different stereo oriented missions and it is realizing a software for the generation of Digital Terrain Models from the CaSSIS images. The SW will be then adapted also for other projects involving stereo camera systems. To compute accurate 3D models, several sequential methods and tools have been developed. The preliminary pipeline provides: the generation of rectified images from the CaSSIS framelets, a matching core and post-processing methods. The software includes in particular: an automatic tie points detection by the Speeded Up Robust Features (SURF) operator, an initial search for the correspondences through Normalize Cross Correlation (NCC) algorithm and the Adaptive Least Square Matching (LSM) algorithm in a hierarchical approach. This work will show a preliminary DTM generated by the first CaSSIS stereo images