Balme, Matt

Barnes, R.

Bauer, A.

Caballo-Perucha, M.~P.

Furya, K.

Gunn, M.

Gupta, S.

Hesina, G.

Huber, B.

Muller, J. -P.

Ortner, T.

Paar, G.

Tao, Y.

Traxler, C.

English

Aberystwyth Research Portal

Aberystwyth UniversityApplication of PRo3D to Quantitative Analysis of Stereo-Imagery CollectedDuring the Mars Utah Rover Field Investigation (MURFI) Analogue Rover TrialsBarnes, R.; Gupta, S.; Gunn, M.; Paar, G.; Huber, B.; Bauer, A.; Furya, K.; Caballo-Perucha, M.~P.; Traxler, C.;Hesina, G.; Ortner, T.; Muller, J. -P.; Tao, Y.; Balme, MattPublished in:Lunar and Planetary Science ConferencePublication date:2017Citation for published version (APA):Barnes, R., Gupta, S., Gunn, M., Paar, G., Huber, B., Bauer, A., Furya, K., Caballo-Perucha, M. P., Traxler, C.,Hesina, G., Ortner, T., Muller, J. -P., Tao, Y., & Balme, M. (2017). Application of PRo3D to Quantitative Analysisof Stereo-Imagery Collected During the Mars Utah Rover Field Investigation (MURFI) Analogue Rover Trials. InLunar and Planetary Science Conference (Vol. 48, pp. 2452). (Lunar and Planetary Science Conference). OpenUniversity Press.General rightsCopyright and moral rights for the publications made accessible in the Aberystwyth Research Portal (the Institutional Repository) areretained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by thelegal requirements associated with these rights.            • Users may download and print one copy of any publication from the Aberystwyth Research Portal for the purpose of private study orresearch.            • You may not further distribute the material or use it for any profit-making activity or commercial gain            • You may freely distribute the URL identifying the publication in the Aberystwyth Research PortalTake down policyIf you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediatelyand investigate your claim.tel: +44 1970 62 2400email: is@aber.ac.ukDownload date: 28. Jun. 2022APPLICATION OF PRo3D TO QUANTITATIVE ANALYSIS OF STEREO-IMAGERY COLLECTED DURING THE MARS UTAH ROVER FIELD INVESTIGATION (MURFI) ANALOGUE ROVER TRIALS.  R. Barnes1, S.Gupta1, M. Gunn2, G. Paar3, B. Huber3, A. Bauer3, K. Furya3, M. P. Caballo-Perucha3, C. Traxler4, G. Hesina4, T. Ortner4, J. P. Muller5, Y. Tao5, S. G. Banham1, J. Harris6, M. Balme7. 1Imperial College, London, UK, robert.barnes@imperial.ac.uk, 2Aberystwyth University, UK 3Joanneum Research, Graz, Austria 4VRVis, Vienna, Austria, 5Mullard Space Science Laboratory, University College London 6Birkbeck, University of London, UK, 7School of Physical Sciences, Open University, UK.   Introduction:  A major component of the payload for NASA’s Mars Exploration Rovers, Mars Science Laboratory as well as the upcoming ESA ExoMars 2020 Rover, and NASA Mars 2020 Rover are the panoramic digital stereo-cameras (Pancam, Mastcam, PanCam, Navcam). These are primarily used for imaging rock outcrops along rover traverses in order to characterise their geology. A key focus is on sedimentary rocks that have the potential to contain evidence for ancient life on Mars. Clues to determine ancient sedimentary environ-ments are preserved in sedimentary bedding geometries, sedimentary structures and grain textures and dimen-sions. The panoramic camera systems take stereo im-ages which are co-registered to create 3D point clouds of rock outcrops to be quantitatively analysed [1].  The Mars Utah Rover Field Investigation (MURFI 2016) is a Mars Rover field analogue mission run by the UK Space Agency (UKSA) in collaboration with the Canadian Space Agency (CSA). MURFI 2016 took place between 22nd October and 13th November 2016 and consisted of a science team based in Harwell, UK, and a field team including an instrumented Rover plat-form at the field site near Hanksville (Utah, USA) [2]. The Aberystwyth University PanCam Emulator 3 (AUPE3) camera system [3, 4] was used to collect ste-reo panoramas of the terrain the rover encountered dur-ing the field trials, in order to aid rover traverse and sci-ence target decision making as well as geological anal-ysis. AUPE3:  AUPE3 was developed to enable field de-ployment and testing of a PanCam-like instrument dur-ing the development and manufacture of the flight model, to enable development of data processing pipe-lines, scientific operations and calibration routines. The AUPE3 system emulates the technical specifications of the PanCam instrument using commercial components [4]. It consists of two Wide Angle Cameras (WAC) sep-arated by 50 cm and with a field of view of 38.3°, ena-bling the construction of Digital Terrain Models with horizontal resolutions of 2 mm within 4 m, and 10 mm up to 10 m away from the rover and a vertical resolution of 1 mm. PRo3D:  Development of processing and visualisa-tion software for Martian rover-derived stereo-imagery has taken place as part of the EU-FP7 PRoViDE project [5]. Stereo-imagery processed in PRoViP is rendered as Ordered Point Clouds (OPCs) in PRo3D (Fig. 1), ena-bling the user to zoom, rotate and translate the 3D out-crop model. Interpretations can be digitised directly onto the 3D surface, and simple measurements can be taken of the dimensions of the outcrop and sedimentary features, including grain size. Dip and strike of bedding planes and fractures is calculated within PRo3D from mapped bedding contacts and fracture traces. The View Planner function also allows for interactive visualisation of potential imaging targets. Validation of the data and tools in PRo3D is ongoing as part of a UKSA funded project for use on the ExoMars and Mars 2020 rover missions.    Figure 1. Merged 3D model of the Shaler outcrop, en-countered on the MSL mission, and rendered in PRo3D. Scale bars are 2 m.  MURFI analogue field trials:  The area of opera-tions for the MURFI trials was in the Utah desert, ~12 km outside of Hanksville. The regional geology and re-moteness of the area makes it an excellent location for this purpose. An ‘ExoMars-like mission’ was conducted over 9 ‘sols’ with a blind science team based in Harwell, UK, and a field team to operate and monitor rover ac-tivities, as well as survey the local geology for valida-tion of the science team’s observations.   Data collection: During the analogue mission itself, the AUPE3 unit was mounted onto the rover mast, at a height of 1.6 m. Mono and stereo panoramas were col-lected at each rover location. Handheld GPS readings (2-3 m accuracy) and compass bearings were taken at 2452.pdfLunar and Planetary Science XLVIII (2017)each imaging location (out-of-simulation) for post-pro-cessing of the data. 16 stereo-datasets were collected as part of the MURFI mission. Additional out-of-simula-tion data was collected in the Hanksville-Burpee Quarry, ~ 4 km to the north of the area of operations, for the purpose of further development of PRo3D and vali-dation of the 3D datasets. This data was collected with the AUPE3 unit mounted on top of a tripod at a height of 2 m, in order to more closely emulate the geometry of the ExoMars 2020 PanCam. Stereo panoramas were processed using an automated pipeline, using data trans-fer through an ftp server provided by Joanneum Re-search, with a turnaround time of a typical full pano-rama in the range of half an hour (from upload of pano-rama images including meta data to availability of the visualization-ready OPCs). 3D data analysis: PRo3D provides an immersive environment for visualisation and analysis of the stereo data collected during the MURFI trials. Features of in-terest in the area could be annotated, and marked as such. Distances between the rover position and a feature of interest can be measured to aid prioritisation of sci-ence targeting. Where grains or rocks are present and visible, their dimensions can be measured (Fig. 2).  Figure 2. Annotated OPC of the post-drive panorama taken on Sol 1 of the MURFI mission. Annotations made in PRo3D indicate the distance of regions of interest from the rover position.  The Hanskville-Burpee quarry contained well-pre-served outcrops. Stereo imagery of 5 of the outcrops was collected together with an Unmanned Aerial Vehi-cle (UAV) derived Digital Terrain model and orthoim-agery of the area. This data was used for outcrop inter-pretation, and further development of PRo3D (Fig. 3). A coarsening-up succession was identified with a red, well-layered mudstone at the base of the outcrop, above a coarse, cross-bedded sandstone. This is overlain by a medium-coarse, finely cross-laminated sandstone, and that by a granular to pebbly cross-laminated sandstone.  The irregular thickness of each stratigraphic unit, to-gether with the grain size data, cross-beds/laminations and other observations, such as a pebble lag at the base of the upper unit are observations that are used to inter-pret the sedimentary processes and environment.  Figure 3. Interpreted OPC of an outcrop at the Hanks-ville-Burpee Quarry, showing the locations of strati-graphic boundaries, line interpretations of sedimentary structures and dip and strike measurements. Scale bars are 2 m.  Future work:  A focus for future development of Pro3D in preparation for application to the ExoMars 2020 and NASA 2020 missions is validation of the data and meaurements taken using Pro3D. Collection of in situ field data by a human geologist allows for direct comparison of viewer-derived measurements with those taken in the field. Georeferencing of the OPC datasets will also take place, assessing the quality of the Mission Operation Team’s remote rover localization, rover Iner-tial Moment Unit (IMU) localization, and GPS data. This will also aid in merging of rover-derived imagery with UAV and orbital datasets, to build semi-regional multi-resolution 3D models of the area of operations for immersive analysis and contextual understanding.   References: [1] Barnes, R. et al. (2015) EPSC Abstr.#2015-375. [2] Balme, M. et al. (2017) LPSC XLVIII. This conf. [3] Pugh, S., et al. (2012) I-SAIRAS, 1394. [4] Harris, J.K. et al. (2015) Icarus, 252, 284-300. [5] Paar, G. et al. (2015) EPSC Abstr.#2015-345.  Acknowledgements:  The research leading to these results has received funding from the UK Space Agency Aurora programme and the European Community's Seventh Framework Programme (FP7/2007-2013) un-der grant agreement n° 312377 PRoViDE, ESA PRODEX Contracts 4000105568 “ExoMars PanCam 3D Vision“ and 4000116566 “Mars 2020 Mastcam-Z 3D Vision“.  2452.pdfLunar and Planetary Science XLVIII (2017)

Application of PRo3D to Quantitative Analysis of Stereo-Imagery Collected During the Mars Utah Rover Field Investigation (MURFI) Analogue Rover Trials

Aberystwyth UniversityApplication of PRo3D to Quantitative Analysis of Stereo-Imagery CollectedDuring the Mars Utah Rover Field Investigation (MURFI) Analogue Rover TrialsBarnes, R.; Gupta, S.; Gunn, M.; Paar, G.; Huber, B.; Bauer, A.; Furya, K.; Caballo-Perucha, M.~P.; Traxler, C.;Hesina, G.; Ortner, T.; Muller, J. -P.; Tao, Y.; Balme, MattPublished in:Lunar and Planetary Science ConferencePublication date:2017Citation for published version (APA):Barnes, R., Gupta, S., Gunn, M., Paar, G., Huber, B., Bauer, A., ... Balme, M. (2017). Application of PRo3D toQuantitative Analysis of Stereo-Imagery Collected During the Mars Utah Rover Field Investigation (MURFI)Analogue Rover Trials. In Lunar and Planetary Science Conference (Vol. 48, pp. 2452). (Lunar and PlanetaryScience Conference). Open University Press.General rightsCopyright and moral rights for the publications made accessible in the Aberystwyth Research Portal (the Institutional Repository) areretained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by thelegal requirements associated with these rights.            • Users may download and print one copy of any publication from the Aberystwyth Research Portal for the purpose of private study orresearch.            • You may not further distribute the material or use it for any profit-making activity or commercial gain            • You may freely distribute the URL identifying the publication in the Aberystwyth Research PortalTake down policyIf you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediatelyand investigate your claim.tel: +44 1970 62 2400email: is@aber.ac.ukDownload date: 03. Oct. 2019APPLICATION OF PRo3D TO QUANTITATIVE ANALYSIS OF STEREO-IMAGERY COLLECTED DURING THE MARS UTAH ROVER FIELD INVESTIGATION (MURFI) ANALOGUE ROVER TRIALS.  R. Barnes1, S.Gupta1, M. Gunn2, G. Paar3, B. Huber3, A. Bauer3, K. Furya3, M. P. Caballo-Perucha3, C. Traxler4, G. Hesina4, T. Ortner4, J. P. Muller5, Y. Tao5, S. G. Banham1, J. Harris6, M. Balme7. 1Imperial College, London, UK, robert.barnes@imperial.ac.uk, 2Aberystwyth University, UK 3Joanneum Research, Graz, Austria 4VRVis, Vienna, Austria, 5Mullard Space Science Laboratory, University College London 6Birkbeck, University of London, UK, 7School of Physical Sciences, Open University, UK.   Introduction:  A major component of the payload for NASA’s Mars Exploration Rovers, Mars Science Laboratory as well as the upcoming ESA ExoMars 2020 Rover, and NASA Mars 2020 Rover are the panoramic digital stereo-cameras (Pancam, Mastcam, PanCam, Navcam). These are primarily used for imaging rock outcrops along rover traverses in order to characterise their geology. A key focus is on sedimentary rocks that have the potential to contain evidence for ancient life on Mars. Clues to determine ancient sedimentary environ-ments are preserved in sedimentary bedding geometries, sedimentary structures and grain textures and dimen-sions. The panoramic camera systems take stereo im-ages which are co-registered to create 3D point clouds of rock outcrops to be quantitatively analysed [1].  The Mars Utah Rover Field Investigation (MURFI 2016) is a Mars Rover field analogue mission run by the UK Space Agency (UKSA) in collaboration with the Canadian Space Agency (CSA). MURFI 2016 took place between 22nd October and 13th November 2016 and consisted of a science team based in Harwell, UK, and a field team including an instrumented Rover plat-form at the field site near Hanksville (Utah, USA) [2]. The Aberystwyth University PanCam Emulator 3 (AUPE3) camera system [3, 4] was used to collect ste-reo panoramas of the terrain the rover encountered dur-ing the field trials, in order to aid rover traverse and sci-ence target decision making as well as geological anal-ysis. AUPE3:  AUPE3 was developed to enable field de-ployment and testing of a PanCam-like instrument dur-ing the development and manufacture of the flight model, to enable development of data processing pipe-lines, scientific operations and calibration routines. The AUPE3 system emulates the technical specifications of the PanCam instrument using commercial components [4]. It consists of two Wide Angle Cameras (WAC) sep-arated by 50 cm and with a field of view of 38.3°, ena-bling the construction of Digital Terrain Models with horizontal resolutions of 2 mm within 4 m, and 10 mm up to 10 m away from the rover and a vertical resolution of 1 mm. PRo3D:  Development of processing and visualisa-tion software for Martian rover-derived stereo-imagery has taken place as part of the EU-FP7 PRoViDE project [5]. Stereo-imagery processed in PRoViP is rendered as Ordered Point Clouds (OPCs) in PRo3D (Fig. 1), ena-bling the user to zoom, rotate and translate the 3D out-crop model. Interpretations can be digitised directly onto the 3D surface, and simple measurements can be taken of the dimensions of the outcrop and sedimentary features, including grain size. Dip and strike of bedding planes and fractures is calculated within PRo3D from mapped bedding contacts and fracture traces. The View Planner function also allows for interactive visualisation of potential imaging targets. Validation of the data and tools in PRo3D is ongoing as part of a UKSA funded project for use on the ExoMars and Mars 2020 rover missions.    Figure 1. Merged 3D model of the Shaler outcrop, en-countered on the MSL mission, and rendered in PRo3D. Scale bars are 2 m.  MURFI analogue field trials:  The area of opera-tions for the MURFI trials was in the Utah desert, ~12 km outside of Hanksville. The regional geology and re-moteness of the area makes it an excellent location for this purpose. An ‘ExoMars-like mission’ was conducted over 9 ‘sols’ with a blind science team based in Harwell, UK, and a field team to operate and monitor rover ac-tivities, as well as survey the local geology for valida-tion of the science team’s observations.   Data collection: During the analogue mission itself, the AUPE3 unit was mounted onto the rover mast, at a height of 1.6 m. Mono and stereo panoramas were col-lected at each rover location. Handheld GPS readings (2-3 m accuracy) and compass bearings were taken at 2452.pdfLunar and Planetary Science XLVIII (2017)each imaging location (out-of-simulation) for post-pro-cessing of the data. 16 stereo-datasets were collected as part of the MURFI mission. Additional out-of-simula-tion data was collected in the Hanksville-Burpee Quarry, ~ 4 km to the north of the area of operations, for the purpose of further development of PRo3D and vali-dation of the 3D datasets. This data was collected with the AUPE3 unit mounted on top of a tripod at a height of 2 m, in order to more closely emulate the geometry of the ExoMars 2020 PanCam. Stereo panoramas were processed using an automated pipeline, using data trans-fer through an ftp server provided by Joanneum Re-search, with a turnaround time of a typical full pano-rama in the range of half an hour (from upload of pano-rama images including meta data to availability of the visualization-ready OPCs). 3D data analysis: PRo3D provides an immersive environment for visualisation and analysis of the stereo data collected during the MURFI trials. Features of in-terest in the area could be annotated, and marked as such. Distances between the rover position and a feature of interest can be measured to aid prioritisation of sci-ence targeting. Where grains or rocks are present and visible, their dimensions can be measured (Fig. 2).  Figure 2. Annotated OPC of the post-drive panorama taken on Sol 1 of the MURFI mission. Annotations made in PRo3D indicate the distance of regions of interest from the rover position.  The Hanskville-Burpee quarry contained well-pre-served outcrops. Stereo imagery of 5 of the outcrops was collected together with an Unmanned Aerial Vehi-cle (UAV) derived Digital Terrain model and orthoim-agery of the area. This data was used for outcrop inter-pretation, and further development of PRo3D (Fig. 3). A coarsening-up succession was identified with a red, well-layered mudstone at the base of the outcrop, above a coarse, cross-bedded sandstone. This is overlain by a medium-coarse, finely cross-laminated sandstone, and that by a granular to pebbly cross-laminated sandstone.  The irregular thickness of each stratigraphic unit, to-gether with the grain size data, cross-beds/laminations and other observations, such as a pebble lag at the base of the upper unit are observations that are used to inter-pret the sedimentary processes and environment.  Figure 3. Interpreted OPC of an outcrop at the Hanks-ville-Burpee Quarry, showing the locations of strati-graphic boundaries, line interpretations of sedimentary structures and dip and strike measurements. Scale bars are 2 m.  Future work:  A focus for future development of Pro3D in preparation for application to the ExoMars 2020 and NASA 2020 missions is validation of the data and meaurements taken using Pro3D. Collection of in situ field data by a human geologist allows for direct comparison of viewer-derived measurements with those taken in the field. Georeferencing of the OPC datasets will also take place, assessing the quality of the Mission Operation Team’s remote rover localization, rover Iner-tial Moment Unit (IMU) localization, and GPS data. This will also aid in merging of rover-derived imagery with UAV and orbital datasets, to build semi-regional multi-resolution 3D models of the area of operations for immersive analysis and contextual understanding.   References: [1] Barnes, R. et al. (2015) EPSC Abstr.#2015-375. [2] Balme, M. et al. (2017) LPSC XLVIII. This conf. [3] Pugh, S., et al. (2012) I-SAIRAS, 1394. [4] Harris, J.K. et al. (2015) Icarus, 252, 284-300. [5] Paar, G. et al. (2015) EPSC Abstr.#2015-345.  Acknowledgements:  The research leading to these results has received funding from the UK Space Agency Aurora programme and the European Community's Seventh Framework Programme (FP7/2007-2013) un-der grant agreement n° 312377 PRoViDE, ESA PRODEX Contracts 4000105568 “ExoMars PanCam 3D Vision“ and 4000116566 “Mars 2020 Mastcam-Z 3D Vision“.  2452.pdfLunar and Planetary Science XLVIII (2017)

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Application of PRo3D to Quantitative Analysis of Stereo-Imagery Collected During the Mars Utah Rover Field Investigation (MURFI) Analogue Rover Trials

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