The NASA Curiosity rover Mast Camera (Mastcam) system is a pair of fixed-focal length, multispectral, color CCD imagers mounted~2 m above the surface on the rover's remote sensing mast, along with associated electronics and an onboard calibration target. The left Mastcam (M-34) has a 34 mm focal length, an instantaneous field of view (IFOV) of 0.22 mrad, and a FOV of 20°× 15°over the full 1648 × 1200 pixel span of its Kodak KAI-2020 CCD. The right Mastcam (M-100) has a 100 mm focal length, an IFOV of 0.074 mrad, and a FOV of 6.8°× 5.1°using the same detector. The cameras are separated by 24.2 cm on the mast, allowing stereo images to be obtained at the resolution of the M-34 camera. Each camera has an eight-position filter wheel, enabling it to take Bayer pattern red, green, and blue (RGB) "true color" images, multispectral images in nine additional bands spanning~400-1100 nm, and images of the Sun in two colors through neutral density-coated filters. An associated Digital Electronics Assembly provides command and data interfaces to the rover, 8 Gb of image storage per camera, 11 bit to 8 bit companding, JPEG compression, and acquisition of high-definition video. Here we describe the preflight and in-flight calibration of Mastcam images, the ways that they are being archived in the NASA Planetary Data System, and the ways that calibration refinements are being developed as the investigation progresses on Mars. We also provide some examples of data sets and analyses that help to validate the accuracy and precision of the calibration.Plain Language Summary We describe the calibration and archiving of the images being obtained from the Mastcam multispectral, stereoscopic imaging system on board the NASA Curiosity Mars rover. Calibration is critical to detailed scientific analysis of instrumental data, and in this paper we not only describe the details of the calibration process and the steps in our resulting data calibration pipeline but also present some examples of the kinds of scientific analyses and discoveries that this calibration has enabled.

The Perseverance rover landed in Jezero crater, Mars, to investigate ancient lake and river deposits. We report observations of the crater floor, below the crater’s sedimentary delta, finding the floor consists of igneous rocks altered by water. The lowest exposed unit, informally named Séítah, is a coarsely crystalline olivine-rich rock, which accumulated at the base of a magma body. Fe-Mg carbonates along grain boundaries indicate reactions with CO 2 -rich water, under water-poor conditions. Overlying Séítah is a unit informally named Máaz, which we interpret as lava flows or the chemical complement to Séítah in a layered igneous body. Voids in these rocks contain sulfates and perchlorates, likely introduced by later near-surface brine evaporation. Core samples of these rocks were stored aboard Perseverance for potential return to Earth.

The Mars Science Laboratory Mast camera and Descent Imager investigations were designed, built, and operated by Malin Space Science Systems of San Diego, CA. They share common electronics and focal plane designs but have different optics. There are two Mastcams of dissimilar focal length. The Mastcam‐34 has an f/8, 34 mm focal length lens, and the M‐100 an f/10, 100 mm focal length lens. The M‐34 field of view is about 20° × 15° with an instantaneous field of view (IFOV) of 218 μrad; the M‐100 field of view (FOV) is 6.8° × 5.1° with an IFOV of 74 μrad. The M‐34 can focus from 0.5 m to infinity, and the M‐100 from ~1.6 m to infinity. All three cameras can acquire color images through a Bayer color filter array, and the Mastcams can also acquire images through seven science filters. Images are ≤1600 pixels wide by 1200 pixels tall. The Mastcams, mounted on the ~2 m tall Remote Sensing Mast, have a 360° azimuth and ~180° elevation field of regard. Mars Descent Imager is fixed‐mounted to the bottom left front side of the rover at ~66 cm above the surface. Its fixed focus lens is in focus from ~2 m to infinity, but out of focus at 66 cm. The f/3 lens has a FOV of ~70° by 52° across and along the direction of motion, with an IFOV of 0.76 mrad. All cameras can acquire video at 4 frames/second for full frames or 720p HD at 6 fps. Images can be processed using lossy Joint Photographic Experts Group and predictive lossless compression.

The resistant~50 m thick Vera Rubin ridge (VRR) situated near the base of Mount Sharp, Gale crater, Mars, has been deemed a high priority science target for the Mars Science Laboratory mission. This is because of (1) its position at the base of the 5 km layered strata of Mount Sharp and (2) the detection of hematite from orbit, indicating that it could be the site of enhanced oxidation. The compositional data acquired by the Alpha Particle X-ray Spectrometer (APXS) during Curiosity's exploration of VRR help to elucidate questions pertaining to the formation of the ridge. APXS analyses indicate that VRR falls within the compositional range of underlying lacustrine mudstones, consistent with a continuation of that depositional environment and derivation from a similar provenance. Lower Fe concentrations for VRR compared to the underlying strata discounts the addition of large amounts of hematite to the strata, either as cement or as detrital input. Compositional trends are associated with VRR cross-cut stratigraphy, indicating postdepositional processes. Higher Si and Al and lower Ti, Fe, and Mn than the underlying mudstone, particularly within distinct patches of gray/blue bedrock, are consistent with the addition of Si and Al. Lateral and vertical compositional variations suggest enhanced element mobility and fluid flow (possibly via multiple events) through VRR, increasing toward the top of the ridge, consistent with the action of warm (~50-100°C), locally acidic saline fluids as inferred from the mineralogy of drilled samples. Plain Language Summary Curiosity has explored the resistant Vera Rubin ridge (VRR) at the base of Mount Sharp, Gale crater, Mars, owing to (1) its position within the 5 km layered rocks of Mount Sharp, which record changes in Mars environment through time, and (2) the detection of hematite from orbit. The Alpha Particle X-ray Spectrometer (APXS) measures the elemental composition of rocks. APXS analyses indicate that VRR has a similar composition to underlying mudstones, consistent with continued deposition in a lake. Lower iron discounts the addition of large amounts of hematite, holding together mineral grains either as cement or as detrital grains. Other elemental trends cut across layering, indicating postdepositional processes. Lateral and vertical compositional variations suggest enhanced element mobility and fluid flow (possibly via multiple events) through VRR, particularly at the top of the ridge and within gray/blue patches of bedrock, consistent with the action of warm (~50-100°C), acidic saline fluids inferred from the mineralogy of drilled samples.

Despite the importance of sand and dust to Mars geomorphology, weather, and exploration, the processes that move sand and that raise dust to maintain Mars’ ubiquitous dust haze and to produce dust storms have not been well quantified in situ, with missions lacking either the necessary sensors or a sufficiently active aeolian environment. Perseverance rover’s novel environmental sensors and Jezero crater’s dusty environment remedy this. In Perseverance’s first 216 sols, four convective vortices raised dust locally, while, on average, four passed the rover daily, over 25% of which were significantly dusty (“dust devils”). More rarely, dust lifting by nonvortex wind gusts was produced by daytime convection cells advected over the crater by strong regional daytime upslope winds, which also control aeolian surface features. One such event covered 10 times more area than the largest dust devil, suggesting that dust devils and wind gusts could raise equal amounts of dust under nonstorm conditions.