Mercator—Independent rover localization using stereophotoclinometry and panoramic images

Palmer, E. E.; Head, J.; Gaskell, R. W.; Sykes, M. V.; McComas, Brian K.

doi:10.1002/2016ea000189

Cited by 13 publications

(11 citation statements)

References 10 publications

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“…Digital elevation models (DEMs) of the two study areas were created using Lunar Reconnaissance Orbiter Camera (LROC) narrow angle camera (NAC) images employing stereophotoclinometry techniques (Gaskell, 2008; Palmer et al., 2016; Text S1 in Supporting Information ). Stereophotoclinometry combines the highly accurate absolute position of a stereo solution, with the high‐resolution relative position of a photoclinometric solution.…”

Section: Methods and Approachmentioning

confidence: 99%

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Topographic Correlations Within Lunar Swirls in Mare Ingenii

Domingue

Weirich

Chuang

et al. 2022

Geophysical Research Letters

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The Moon's bright albedo markings, known as swirls, are defined by broad, bright, on‐swirl areas separated by darker off‐swirl lanes. Their formation mechanism has long been debated and is key for understanding the processing of the lunar surface, the mobility of the lunar soil particles, and the effects of the space environment on planetary surfaces. Here we present, for the first time, evidence that these features do not necessarily cross the surface without regard to topography or local terrain. Within portions of Mare Ingenii on the lunar far‐side, brighter on‐swirl areas have statistically lower mean elevations than adjacent, darker, off‐swirl lanes. These topographic characteristics provide constraints on the plausible formation mechanisms for the swirls in Mare Ingenii, which in turn provide insight into lunar soil migration and evolution. We believe this correlation with topography argues for highly mobile dust transport across the lunar surface.

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Section: Methods and Approachmentioning

confidence: 99%

“…lroc.asu.edu/). The stereophotoclinometry technique and software is described in Gaskell (2008) and Palmer et al (2016). The topography is included in the supplementary materials as Geotiffs.…”

Section: Data Availability Statementmentioning

confidence: 99%

Topographic Correlations Within Lunar Swirls in Mare Ingenii

Domingue

Weirich

Chuang

et al. 2022

Geophysical Research Letters

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“…The topography that is used to align the reflectance data was produced using stereophotoclinometry (SPC). SPC combines stereo positioning and photoclinometry to generate a digital terrain model (DTM) from LROC NAC stereo images (Gaskell et al 2008;Palmer et al 2016). The DTMs are generated from SPC maplets, which are fundamentally 99 × 99 pixel representations of the topography.…”

Section: Data Products and Study Areasmentioning

confidence: 99%

Mapping Lunar Swirls with Machine Learning: The Application of Unsupervised and Supervised Image Classification Algorithms in Reiner Gamma and Mare Ingenii

et al. 2022

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Lunar swirls are recognized as broad, bright albedo features in various regions of the Moon. These features are often separated by dark off-swirl lanes or terminate against the dark background, such as lunar maria. Prior mapping of swirls has been done primarily by albedo contrast, which is prone to subjectivity. Closer examination of on-swirl areas shows that they are not uniform, making the boundary between on- and off-swirl difficult to map with certainty. We have applied machine learning techniques to address these issues by identifying the number of swirl units and then mapping them based on actual reflectance, or I/F data. Using LROC NAC paired stereo images that are converted to I/F reflectance at a range of incidence angles, we applied both unsupervised K-means clustering and supervised Maximum Likelihood Classification algorithms to classify and map portions of lunar swirls in Reiner Gamma and Mare Ingenii. Results show that the classification maps are a reasonable match to the representative albedos for the two study regions. A third transitionary swirl unit, termed diffuse-swirl, is present in both the maps and the cumulative distribution plots of the reflectance values. Overall, we find that the use of both algorithms provides independent confirmation of both the number and location of these units and their interrelation. More importantly, the algorithms remove mapping subjectivity by using quantitative information. The data and the statistics generated from the maps also have value in future studies by placing limits for categorizing swirl units in different regions on the Moon.

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“…It leverages the strengths of each technique and mitigates the weaknesses of the other. Stereo provides absolute 3D position, while photoclinometry generates a higher spatial resolution (Palmer et al 2016). Photoclinometry provides highresolution topography through pixel-to-pixel slope estimation, while stereo anchors this topography in 3D space.…”

Section: Introductionmentioning

confidence: 99%

Practical Stereophotoclinometry for Modeling Shape and Topography on Planetary Missions

et al. 2022

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Stereophotoclinometry (SPC) is a technique to extract topographic information from images acquired by spacecraft. It combines stereophotogrammetry and photoclinometry to produce a product that has the accuracy of stereo with the resolution of photoclinometry without the restrictions common to both. We describe the implementation of this technique in the context of digital terrain model (DTM) generation for a small-body mission. We detail the process and the data used to generate SPC-derived DTMs at progressively increasing resolutions. The highest-quality DTMs are generated using four images optimized for topography, a 30° emission angle with the emission azimuth (spacecraft position) to the north, east, south, and west of the target, and one image optimized for albedo (a low incidence angle such that most of the image pixels’ digital numbers are based upon albedo rather than topography). We discuss implications for mission planning and how SPC-based DTM generation can support spacecraft navigation. As a case study, we share outcomes from the modeling performed for the OSIRIS-REx mission to asteroid Bennu.

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Mercator—Independent rover localization using stereophotoclinometry and panoramic images

Cited by 13 publications

References 10 publications

Topographic Correlations Within Lunar Swirls in Mare Ingenii

Topographic Correlations Within Lunar Swirls in Mare Ingenii

Mapping Lunar Swirls with Machine Learning: The Application of Unsupervised and Supervised Image Classification Algorithms in Reiner Gamma and Mare Ingenii

Practical Stereophotoclinometry for Modeling Shape and Topography on Planetary Missions

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