Barnes, David Preston

English

The Pasteur payload on the ESA ExoMars Rover due for launch in 2013 is designed to search for evidence of extant or extinct life either on or down to 2 m below the surface of Mars. The Panoramic Camera stereo imaging system (PanCam) on the rover will be used for visual characterization of the rover’s surroundings and remote detection of potential sample sites. It consists of two wide angle multispectral cameras each with a 34° field-of-view (Wide Angle CameraWAC) and a high resolution monoscopic camera (High Resolution Camera, HRC) with 5° field-of-view, both mounted on a shared pan-tilt unit on top of the rover mast

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Aberystwyth UniversityExoMars Panoramic Camera 3D Vision: Expected Quality of RoverSurroundings DescriptionBarnes, David PrestonPublished in:Geophysical Research AbstractsPublication date:2008Citation for published version (APA):Barnes, D. P. (2008). ExoMars Panoramic Camera 3D Vision: Expected Quality of Rover SurroundingsDescription. Geophysical Research Abstracts, 1607-7962. http://hdl.handle.net/2160/1853General 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: 30. Aug. 2021Geophysical Research Abstracts,Vol. 10, EGU2008-A-07337, 2008SRef-ID: 1607-7962/gra/EGU2008-A-07337EGU General Assembly 2008© Author(s) 2008ExoMars Panoramic Camera 3D Vision: ExpectedQuality of Rover Surroundings DescriptionG. Paar (1), J. Oberst (4), D.P. Barnes (3), A.D. Griffiths (2), R. Jaumann (4), A.J.Coates (2), J.-P. Muller (2), Y.Gao (5), R. Li (6)(1) Institute of Digital Image Processing, JOANNEUM RESEARCH, Wastiangasse 6, A 8010Graz, Austria, (gerhard.paar@joanneum.at) (2) Mullard Space Science Laboratory, UniversityCollege London, Holmbury St. Mary, Dorking, RH5 6NT, UK (adg/ajc/jpm@mssl.ucl.ac.uk)(3) Department of Computer Science, University of Wales, Aberystwyth, SY23 3DB, UK(dpb@aber.ac.uk) (4) German Aerospace Center, Institute of Planetary Research,Rutherfordstr. 2, D-12489 Berlin, Germany (juergen.oberst/ralf.jaumann@dlr.de) (5) SurreySpace Centre, University of Surrey, Guildford, GU2 7XH, UK (Yang.Gao@surrey.ac.uk) (6)Mapping and GIS Laboratory, CEEGS, The Ohio State University, 470 Hitchcock Hall, 2070Neil Avenue, Columbus, OH 43210-1275 (li.282@osu.edu)The Pasteur payload on the ESA ExoMars Rover due for launch in 2013 is designed tosearch for evidence of extant or extinct life either on or down to∼2 m below the sur-face of Mars. The Panoramic Camera stereo imaging system (PanCam) on the roverwill be used for visual characterization of the rover’s surroundings and remote de-tection of potential sample sites. It consists of two wide angle multispectral cameraseach with a 34˚ field-of-view (Wide Angle Camera WAC) and a high resolution mono-scopic camera (High Resolution Camera, HRC) with 5˚ field-of-view, both mountedon a shared pan-tilt unit on top of the rover mast.The optical and mechanical layout as well as ground processing software developmentis driven by the following scientific and operational objectives:• Localization of the landing site (fusion between orbiter data and ground imageproducts)• Provision of context information to detect, locate and measure potential scientif-ically interesting targets, particularly in view of the ExoMars mission objectives(search for traces of past and present signs of life)• Geological characterization and cartography of the local environments (localDigital Terrain/Elevation Model or DTM)• Complement to and/or backup of the rover visual navigation system (perception,localization/orientation/tilt within the 3D environment, path planning, 3D/visualodometry)• Supporting the operation of other scientific instruments and complementingtheir data (e.g. pose determination of Magnetometer, fusion with Microscope,Monitoring of rover experiments such as drilling and coring including a charac-terization of the derived rock and soil products)• Studying atmospheric properties and variable phenomena near the Martian sur-face (e.g. aerosol opacity, water vapour column density, clouds, dust devils, me-teors, surface frosts)• Geodetic studies (observations of Sun, bright stars, Phobos/Deimos).Three dimensional (3D) vision processing is a key element of mission planning andscientific data analysis. The quality of images and image products describing 3D sur-face structure is essential to scientific and operations planning. It is therefore necessaryto study the expected quality of such products. We report on the current status address-ing quality issues, proposed solutions for problems or shortcomings encountered, andwhat open questions remain to be answered. Relevant topics include:• Influence of compression ratio, method and effected image property (i.e. spatial,spectral, or radiometry compression)• Geometric parameters such as stereo base length, focal length and scene dis-tance• Viewing parameters such as incidence angle• Stereo matching strategy• Influence of different wavelengths• Geometric and radiometric properties of the scene (e.g. shadow distribution,rock distribution, overhangs, images taken at different sun incidence angle)• Close-range stereo processing: Effects of large baseline and fusion betweenviews taken at different pan angles• Expected 3D accuracy• Potential of HRC and WAC fusionThe whole processing chain verification and quality assessment is using real-scaletests (ESTEC Planetary Test Bed, Planetary Analogue Terrain at Univ. Wales Aberys-twyth, Caldera of Tenerife) as well as a 1:10 mockup containing artificial objects withknown dimensions.

ExoMars Panoramic Camera 3D Vision: Expected Quality of Rover Surroundings Description

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ExoMars Panoramic Camera 3D Vision: Expected Quality of Rover Surroundings Description

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