NASA’s Mars-2020 Perseverance rover spent its first year in Jezero crater studying the mafic lava flows of the Máaz formation and the ultramafic cumulates of the Séítah formation. Perseverance’s Mastcam-Z instrument, a pair of multispectral, stereoscopic zoom-lens cameras, provides broadband red/green/blue (RGB), narrowband visible to near-infrared color (VNIR, 440-1020 nm wavelength range). We compiled Mastcam-Z spectra from Perseverance’s exploration of the Jezero crater floor in the first 380 sols of its mission. Here, we provide a database of ~2400 representative spectra with extensive metadata, and the locations of the regions of interest (ROIs) from which the spectra were extracted. We also include “natural color” red, green, blue (RGB) images for context, “enhanced color images” derived by stretching narrowband images, and “decorrelation stretch” (DCS) images. This dataset can serve as a baseline to interpret future observations from Perseverance’s ongoing exploration of Jezero crater, Mars

Annex, Andrew A.

Bell, James F.

Brown, Adrian

Cloutis, Edward

Curtis, Sabrina

Duflot, Louise

Eng, Alivia

Evans, Acacia A.

Garczynski, Bradley

Hayes, Alex

Horgan, Briony N.

Johnson, Jeffrey R.

Kinch, Kjartan B.

Lapo, Kristiana

Merusi, Marco

Million, Chase C.

Núñez, Jorge I.

Rice, Melissa S.

St. Clair, Michael

Vaughan, Alicia

Western Washington University

Western Washington University Western CEDAR Geology Faculty Publications Geology 8-1-2022 Mastcam-Z multispectral database from the Perseverance rover’s traverse in the Jezero crater floor, Mars (sols 0-380) Melissa S. Rice Western Washington University, melissa.rice@wwu.edu Jeffrey R. Johnson Johns Hopkins University Applied Physics Laboratory Chase C. Million Million Concepts Michael St. Clair Million Concepts Briony N. Horgan Purdue University See next page for additional authors Follow this and additional works at: https://cedar.wwu.edu/geology_facpubs Recommended Citation Rice, Melissa S.; Johnson, Jeffrey R.; Million, Chase C.; St. Clair, Michael; Horgan, Briony N.; Vaughan, Alicia; Núñez, Jorge I.; Garczynski, Bradley; Curtis, Sabrina; Kinch, Kjartan B.; Merusi, Marco; Hayes, Alex; Bell, James F.; Duflot, Louise; Lapo, Kristiana; Evans, Acacia A.; Eng, Alivia; Cloutis, Edward; Brown, Adrian; and Annex, Andrew A., "Mastcam-Z multispectral database from the Perseverance rover’s traverse in the Jezero crater floor, Mars (sols 0-380)" (2022). Geology Faculty Publications. 105. https://cedar.wwu.edu/geology_facpubs/105 This Dataset is brought to you for free and open access by the Geology at Western CEDAR. It has been accepted for inclusion in Geology Faculty Publications by an authorized administrator of Western CEDAR. For more information, please contact westerncedar@wwu.edu. Authors Melissa S. Rice, Jeffrey R. Johnson, Chase C. Million, Michael St. Clair, Briony N. Horgan, Alicia Vaughan, Jorge I. Núñez, Bradley Garczynski, Sabrina Curtis, Kjartan B. Kinch, Marco Merusi, Alex Hayes, James F. Bell, Louise Duflot, Kristiana Lapo, Acacia A. Evans, Alivia Eng, Edward Cloutis, Adrian Brown, and Andrew A. Annex This dataset is available at Western CEDAR: https://cedar.wwu.edu/geology_facpubs/105 Mastcam-Z multispectral database from the Perseverance rover’s traverse in the Jezero crater floor, Mars (sols 0-380)   Data Processing The Mastcam-Z instrument on NASA’s Perseverance rover is a pair of multispectral, stereoscopic zoom-lens cameras that provide broadband red/green/blue (RGB), narrowband visible to near-infrared color (VNIR, 440-1020 nm wavelength range) (Bell et al., 2021). We used near-simultaneous observations of the Mastcam-Z calibration targets (Kinch et al., 2020) with pre-flight calibration coefficients (Hayes et al., 2021) to calibrate Mastcam-Z surface observations to radiance factor (I/F, or “IOF,” where I is equal to the measured scene radiance and πF is the solar irradiance received at the surface at the time of the observation).   We compiled a database of Mastcam-Z spectra from Perseverance’s exploration of the Jezero crater floor in the first 380 sols of its mission. This database includes a total of 318 observations (eight observations from this period were excluded because of extensive shadowing, failed image execution, known calibration issues, and/or incomplete downlink). For multispectral mosaics, we treated each pointing as a unique observation. While each pointing of a mosaic shares a common sequence identifier number (seqID), individual pointings can be separated using their remote sensing mast (RSM) position counters.   For each Mastcam-Z multispectral observation, we characterized the spectral variability in the scene through a visual inspection of natural color red, green, blue (RGB) images, enhanced color images derived by stretching narrowband images, and decorrelation stretch (DCS) products (Gillespie et al., 1986). The stretched image products were produced programmatically by the Automated Spectral Data Functions (‘asdf’) workflow (St. Clair et al., 2022). We identified end members within each scene as groupings of pixels that exhibited distinct colors in the false color and DCS products and also represented geologically-distinct surfaces.   We extracted a representative spectrum of each end member by manually selecting pixels from regions of interest (ROIs) in the right and left Mastcam-Z images separately, taking care to select the same regions of the surface. We utilized the “best practices” described by Rice et al. (2022) for ROI selection in Mastcam images. In the resulting ROI spectra, we represent error values in IOF as the standard deviation among the selected pixels; this is a measure of the homogeneity of the pixel values within the ROI, and is generally much larger than the instrumental error (Hayes et al., 2021).   We compiled each endmember spectrum with extensive metadata. Observation-level metadata were taken directly from the Mastcam-Z images’ Planetary Data System version 4 (PDS4) headers, and geographic information was taken from localization data provided for each rover position in the PDS. Each spectrum was manually assigned a number of ROI-specific fields to categorize their rock and soil properties.    File Formats CSV, FITS, PNG  Dataset Description: ROI_files.zip Regions of Interest (ROIs) from which all spectra in the database (Mastcam-Z_multispectral_database.csv) were extracted. All files are compressed FITS files. Filenames are given as “roi_solXXXX_zcamYYYY_rsmZZZ-N.fits.gz,” where XXXX is the sol number, YYYY is the sequence identifier number, ZZZ is the remote sensing mast position index, and N is the analysis name (appended when more than one ROI file exists for a single observation).  Dataset Description: ROI_context_images.zip Context images for Regions of Interest (ROIs) for each Mastcam-Z multispectral observation in the database (Mastcam-Z_multispectral_database.csv). All images are PNG files. ROIs are shown as polygons overlain on natural color red, green and blue (RGB) images from Mastcam-Z L0 and R0 filters. The ROI color in each image corresponds to a unique spectrum in the database. Filenames are given as “context_image_C_solXXXX_zcamYYYY_rsmZZZ-N.png,” where C is the camera (left or right), XXXX is the sol number, YYYY is the sequence identifier number, ZZZ is the remote sensing mast position index, and N is the analysis name (appended when more than one ROI file exists for a single observation).  Dataset Description: Composite_images.zip Enhanced color and decorrelation stretch composite images for all observations in the database (Mastcam-Z_multispectral_database.csv). All images are PNG files.  The composites are made with the L2 (754 nm), L5 (528 nm) and L6 (442 nm) filters. Filenames are given as “COMP_L2_L5_L6_solXXXX_zcamYYYY_rsmZZZ.png,” where COMP is the composite type (“dcs” or “enhanced_color”), XXXX is the sol number, YYYY is the sequence identifier number, ZZZ is the remote sensing mast position index.  Dataset Description: Mastcam-Z_multispectral_database.csv NAME Target name associated with the Mastcam-Z sequence, appended with “_XofY” for mosaic observations (where X is the pointing number and Y is the total number of pointings in the mosaic) SOL Martian day of Perseverance’s mission LTST Local True Solar Time when the sequence began on Mars, in units of seconds past midnight SEQ_ID Mastcam-Z sequence identifier number ROVER_ELEVATION Elevation of the rover in meters INCIDENCE_ANGLE Incidence angle for the center of the image when the sequence began on Mars, calculated from the Solar Elevation field in the Mastcam-Z image header EMISSION_ANGLE Emission angle for the center of the image when the sequence began on Mars, calculated from the Instrument Elevation field in the Mastcam-Z image header PHASE_ANGLE Phase angle for the center of the image when the sequence began on Mars, calculated from the Solar Elevation, Instrument Elevation, Instrument Azimuth and Solar Azimuth fields in the Mastcam-Z image header LAT Rover latitude LON Rover longitude ODOMETRY Rover distance traveled in meters SCLK Spacecraft clock time ROI_COLOR Color assigned to the Region of Interest from which pixels were averaged to extract the Mastcam spectrum; colors correspond to those shown in the context images FEATURE  Type of surface feature (rock, soil, pebble or hardware) FORMATION Stratigraphic position (for rock targets only) MEMBER Stratigraphic position (for rock targets only) FLOAT Designation of rocks as “in-place,” “float” (not attached to outcrop) or “unclear” ZOOM Zoom position RSM Remote sensing mast position index COMPRESSION Image compression type ROCK_SURFACE Rock surface type (thick dust, bright natural surface, dark natural surface, abraded surface, coating (not dust), or tailings) GRAIN_SIZE Qualitative assessment of soil grain size as fine (grains not resolvable), coarse (grains resolvable) or mixed SOIL_LOCATION Soil surface type (undisturbed, wheel track, disturbed surface (not wheel track), bedform crest/slope, on rock, or on hardware) DISTANCE Qualitative distance assessment (nearfield, midfield or farfield) ANALYSIS_NAME Specifier appended to ROI filenames when more than one ROI file exists for a single observation MIN_COUNTS Minimum number of pixels included in the ROI for any filter UNITS Reflectance units used; IOF is the “radiance factor,” which can be converted to “reflectance factor” (R*) by dividing by the cosine of the solar incidence angle L6 Reflectance at 442 nm L0B Reflectance at 480 nm R0B Reflectance at 480 nm L5 Reflectance at 528 nm L0G Reflectance at 554 nm R0G Reflectance at 554 nm L4 Reflectance at 605 nm L0R Reflectance at 630 nm R0R Reflectance at 630 nm L3 Reflectance at 677 nm L2 Reflectance at 754 nm L1 Reflectance at 800 nm R1 Reflectance at 800 nm R2 Reflectance at 866 nm R3 Reflectance at 910 nm R4 Reflectance at 939 nm R5 Reflectance at 978 nm R6 Reflectance at 1022 nm L6_ERR Standard deviation at 442 nm L0B_ERR Standard deviation at 480 nm R0B_ERR Standard deviation at 480 nm L5_ERR Standard deviation at 528 nm L0G_ERR Standard deviation at 554 nm R0G_ERR Standard deviation at 554 nm L4_ERR Standard deviation at 605 nm L0R_ERR Standard deviation at 630 nm R0R_ERR Standard deviation at 630 nm L3_ERR Standard deviation at 677 nm L2_ERR Standard deviation at 754 nm L1_ERR Standard deviation at 800 nm R1_ERR Standard deviation at 800 nm R2_ERR Standard deviation at 866 nm R3_ERR Standard deviation at 910 nm R4_ERR Standard deviation at 939 nm R5_ERR Standard deviation at 978 nm R6_ERR Standard deviation at 1022 nm FILTER_AVG Average reflectance of all filters ERR_AVG Average of the standard deviations for all filters REL_ERR_AVG Average of the standard deviations for all filters relative to their reflectance values   References Bell, J.F., III, Maki, J. N., Mehall, G. L., Revine, M. A., Caplinger, M. A., Bailey, Z. J. et al. (2021). The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation. Space Science Reviews, 217(24). https://doi.org/10.1007/s11214-020-00755-x.  Gillespie, A., Kahle, A., & Walker, R. (1986). Color enhancement of highly correlated images. I. Decorrelation and HSI contrast stretches. Remote Sensing of Environment, 20(3), 209–235. https://doi.org/10.1016/0034-4257(86)90044-1.  Hayes, A. G., Corlies, P., Tate, C., Barrington, M., Bell, J. F. III, Maki, J. N. et al. (2021). Pre-Flight Calibration of the Mars 2020 Rover Mastcam Zoom (Mastcam-Z) Multispectral, Stereoscopic Imager. Space Science Reviews, 217, 29. https://doi.org/10.1007/s11214-021-00795-x.  Kinch, K. M., Madesen, M. B., Bell, J. F. III, Maki, J. N., Bailey, Z., Hayes, A. G. et al. (2020). Radiometric calibration targets for the Mastcam-Z camera on the Mars 2020 rover mission. Space Sciences Reviews, 216, 141. https://doi.org/10.1007/s11214-020-00774-8.  Rice, M. S., Seeger, C., Bell, J., Calef, F., St. Clair, M., Eng, A., et al. (2022). Spectral diversity of rocks and soils in Mastcam observations along the Curiosity rover’s traverse in Gale crater, Mars. Journal of Geophysical Research: Planets, 127, e2021JE007134. https://doi.org/10.1029/2021JE007134.  St. Clair, M., Million, C., Rice, M. S. (2022). marslab software suite. https://zenodo.org/badge/latestdoi/498892781.   

Mastcam-Z multispectral database from the Perseverance rover’s traverse in the Jezero crater floor, Mars (sols 0-380)

https://cedar.wwu.edu/cgi/viewcontent.cgi?article=1104&context=geology_facpubs

Mastcam-Z multispectral database from the Perseverance rover’s traverse in the Jezero crater floor, Mars (sols 0-380)

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