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

Sensitivity of snow models to the accuracy of meteorological forcings in mountain environments

Snow models are usually evaluated at sites providing high-quality meteorological data, so that the uncertainty in the meteorological input data can be neglected when assessing model performances. However, high-quality input data are rarely available in mountain areas and, in practical applications, the meteorological forcing used to drive snow models is typically derived from spatial interpolation of the available in situ data or from reanalyses, whose accuracy can be considerably lower. In order to fully characterize the performances of a snow model, the model sensitivity to errors in the input data should be quantified. In this study we test the ability of six snow models to reproduce snow water equivalent, snow density and snow depth when they are forced by meteorological input data with gradually lower accuracy. The SNOWPACK, GEOTOP, HTESSEL, UTOPIA, SMASH and S3M snow models are forced, first, with high-quality measurements performed at the experimental site of Torgnon, located at 2160ma.s.l. in the Italian Alps (control run). Then, the models are forced by data at gradually lower temporal and/or spatial resolution, obtained by (i) sampling the original Torgnon 30 min time series at 3, 6, and 12 h, (ii) spatially interpolating neighbouring in situ station measurements and (iii) extracting information from GLDAS, ERA5 and ERA-Interim reanalyses at the grid point closest to the Torgnon site. Since the selected models are characterized by different degrees of complexity, from highly sophisticated multi-layer snow models to simple, empirical, single-layer snow schemes, we also discuss the results of these experiments in relation to the model complexity. The results show that, when forced by accurate 30 min resolution weather station data, the single-layer, intermediatecomplexity snow models HTESSEL and UTOPIA provide similar skills to the more sophisticated multi-layer model SNOWPACK, and these three models show better agreement with observations and more robust performances over different seasons compared to the lower-complexity models SMASH and S3M. All models forced by 3-hourly data provide similar skills to the control run, while the use of 6- A nd 12-hourly temporal resolution forcings may lead to a reduction in model performances if the incoming shortwave radiation is not properly represented. The SMASH model generally shows low sensitivity to the temporal degradation of the input data. Spatially interpolated data from neighbouring stations and reanalyses are found to be adequate forcings, provided that temperature and precipitation variables are not affected by large biases over the considered period. However, a simple bias-adjustment technique applied to ERA-Interim temperatures allowed all models to achieve similar performances to the control run. Regardless of their complexity, all models show weaknesses in the representation of the snow density