Overview of Spirit Microscopic Imager Results

This paper provides an overview of Mars Exploration Rover Spirit Microscopic Imager (MI) operations and the calibration, processing, and analysis of MI data. The focus of this overview is on the last five Earth years (2005-2010) of Spirit's mission in Gusev crater, supplementing the previous overview of the first 450 sols of the Spirit MI investigation. Updates to radiometric calibration using in-flight data and improvements in high-level processing are summarized. Released data products are described, and a table of MI observations, including target/feature names and associated data sets, is appended. The MI observed natural and disturbed exposures of rocks and soils as well as magnets and other rover hardware. These hand-lens-scale observations have provided key constraints on interpretations of the formation and geologic history of features, rocks, and soils examined by Spirit. MI images complement observations by other Spirit instruments, and together show that impact and volcanic processes have dominated the origin and evolution of the rocks in Gusev crater, with aqueous activity indicated by the presence of silica-rich rocks and sulfate-rich soils. The textures of some of the silica-rich rocks are similar to terrestrial hot spring deposits, and observations of subsurface cemented layers indicate recent aqueous mobilization of sulfates in places. Wind action has recently modified soils and abraded many of the rocks imaged by the MI, as observed at other Mars landing sites. Plain Language Summary The Microscopic Imager (MI) on NASA's Spirit rover returned the highest-resolution images of the Martian surface available at the time of the 2004-2010 mission. Designed to survive 90 Mars days (sols) and search for evidence of water in the past, Spirit returned data for 2210 sols, far exceeding all expectations. This paper summarizes the scientific insights gleaned from the thousands of MI images acquired during the last 5years of the mission, supplementing the summary of the first 450 sols of the Spirit MI investigation published previously (Herkenhoff et al., ). Along with data from the other instruments on Spirit, MI images guided the scientific interpretation of the geologic history of the rocks and soils observed in Gusev crater on Mars. We conclude that the geologic history of the area explored by Spirit has been dominated by impacts and volcanism, and that water, perhaps very hot water, was involved in the evolution of some of the rocks and soils. More recently, winds have moved soil particles and abraded rocks, as observed elsewhere on Mars. These results have improved our understanding of Mars' history and informed planning of future missions to Mars.National Aeronautics and Space AdministrationPublic domain articleThis item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at [email protected]

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

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

Current Status of the Community Sensor Model Standard for the Generation of Planetary Digital Terrain Models

The creation of accurate elevation models (topography) from stereo images are critical for a large variety of geospatial activities, including the production of digital orthomosaics, change detection, landing site analysis, geologic mapping, rover traverse planning, and spectral analysis. The United Stated Geological Survey, Astrogeology Science Center, continues to transition the supported planetary sensor models to the Community Sensor Model (CSM) standard. This paper describes the current state of use for this photogrammetric standard, supported sensor model types, and qualitatively compares derived topography between SOCET SET and SOCET GXP (®BAE Systems) using HiRISE stereo images of Mars. Our transition to the CSM standard will ensure an uninterrupted capability to make these valuable products for Mars and many other extraterrestrial planets and moons