Topographic Mapping and Rover Localization in MER 2003 Mission Landing Sites

Details Topographic Mapping and Rover Localization in MER 2003 Mission Landing Sites Topographic Mapping and Rover Localization in MER 2003 Mission Landing Sites

May 2004

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2004agusm.p33d..17l&link_type=abstract

American Geophysical Union, Spring Meeting 2004, abstract #P33D-17

Mathematics

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6225 Mars

Scientific paper

This presentation illustrates results of topographic mapping and rover localization in Spirit and Opportunity landing sites. MOC/NA images, DIMES descent images, and surface Pancam and Navcam images are used to map regional and local topographic features of the landing sites. A new bundle adjustment method builds an image network with improved visual odometric data to supply enhance pointing data that are essential for high accuracy mapping and rover localization. Special 3D mapping products of the crater where Opportunity spacecraft landed are produced first time using rover images acquired from inside of a planetary crater. Traverse maps will show the comparison result of rover positions computed from the rover telemetry data with those from the image-based localization method. Analysis of the differences will be performed considering wheel slippage, IMU drift, and other factors. High quality topographic mapping products such as orthoimage base maps, 3D digital terrain models, and 3D interactive viewing tools are developed to support a series of mission operations and outreach activities, including long term science planning, rover path planning, geological mapping, wheel track property investigation, rock distribution estimation, crater modeling, and TV simulation scenes.

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