Thas work focuses o n creatang a framework f o r objectavely evaluatang the performance of range amage segmentataon algorathms. T h e algorathms are evaluated an terms of correct segmentataon, over-and under-segmentataon, massed and noase regaons. A set of amages wath ground truth was created f o r thas work. T h e amages were captured usang a structured laght scanner. Images used an the evaluataon contaan planar, spheracal, cylandracal, torozdal and conacal surface patches. T h e dafferent surface patches an each zmage were manually adentafied to establash ground truth f o r performance evaluataon. T w o segmentataon algorzthms f r o m the laterature are compared.

AbstractÐWe present a methodology for calibrating multiple light source locations in 3D from images. The procedure involves the use of a novel calibration object that consists of three spheres at known relative positions. The process uses intensity images to find the positions of the light sources. We conducted experiments to locate light sources in 51 different positions in a laboratory setting. Our data shows that the vector from a point in the scene to a light source can be measured to within PXU AE XR at XHS (6 percent relative) of its true direction and within HXIQ AE XHP m at XHS (9 percent relative) of its true magnitude compared to empirically measured ground truth. Finally, we demonstrate how light source information is used for color correction.

[1] Chemical, mineralogic, and lithologic ground truth was acquired for the first time on Mars in terrain units mapped using orbital Mars Reconnaissance Orbiter's High Resolution Imaging Science Experiment (MRO HiRISE) image data. Examination of several dozen outcrops shows that Mars is geologically complex at meter length scales, the record of its geologic history is well exposed, stratigraphic units may be identified and correlated across significant areas on the ground, and outcrops and geologic relationships between materials may be analyzed with techniques commonly employed in terrestrial field geology. Despite their burial during the course of Martian geologic time by widespread epiclastic materials, mobile fines, and fall deposits, the selective exhumation of deep and well-preserved geologic units has exposed undisturbed outcrops, stratigraphic sections, and structural information much as they are preserved and exposed on Earth. A rich geologic record awaits skilled future field investigators on Mars. The correlation of ground observations and orbital images enables construction of a corresponding geologic reconnaissance map. Most of the outcrops visited are interpreted to be pyroclastic, impactite, and epiclastic deposits overlying an unexposed substrate, probably related to a modified Gusev crater central peak. Fluids have altered chemistry and mineralogy of these protoliths in degrees that vary substantially within the same map unit. Examination of the rocks exposed above and below the major unconformity between the plains lavas and the Columbia Hills directly confirms the general conclusion from remote sensing in previous studies over past years that the early history of Mars was a time of more intense deposition and modification of the surface. Although the availability of fluids and the chemical and mineral activity declined from this early period, significant later volcanism and fluid convection enabled additional, if localized, chemical activity.

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The Science Activity Planner (SAP) is the primary science operations tool for the Mars Exploration Rover mission and NASA's Software of the Year for 2004. SAP utilizes a variety of visualization and planning capabilities to enable the mission operations team to direct the activities of the Spirit and Opportunity rovers. This paper outlines some of the challenging requirements that drove the design of SAP and discusses lessons learned from the development and use of SAP in mission operations.