Panoramic camera systems on robots exploring the surface of Mars are used to collect images of terrain and rock outcrops which they encounter along their traverse. Image mosaics from these cameras are essential in mapping the surface geology and selecting locations for analysis by other instruments on the rover's payload. 2‐D images do not truly portray the depth of field of features within an image, nor their 3‐D geometry. This paper describes a new 3‐D visualization software tool for geological analysis of Martian rover‐derived Digital Outcrop Models created using photogrammetric processing of stereo‐images using the Planetary Robotics Vision Processing tool developed for 3‐D vision processing of ExoMars PanCam and Mars 2020 Mastcam‐Z data. Digital Outcrop Models are rendered in real time in the Planetary Robotics 3‐D Viewer PRo3D, allowing scientists to roam outcrops as in a terrestrial field campaign. Digitization of point, line, and polyline features is used for measuring the physical dimensions of geological features and communicating interpretations. Dip and strike of bedding and fractures is measured by digitizing a polyline along the contact or fracture trace, through which a best fit plane is plotted. The attitude of this plane is calculated in the software. Here we apply these tools to analysis of sedimentary rock outcrops and quantification of the geometry of fracture systems encountered by the science teams of NASA's Mars Exploration Rover Opportunity and Mars Science Laboratory rover Curiosity. We show the benefits PRo3D allows for visualization and collection of geological interpretations and analyses from rover‐derived stereo‐images.

Image Assisted Total Stations (IATS) unify geodetic precision of total stations with areal coverage of images. The concept of using two IATS devices for high-resolution, long-range stereo survey of georisk areas has been investigated in the EU-FP7 project DE-MONTES (www.de-montes.eu). The paper presents the used methodology and compares the main features with other terrestrial geodetic geo-monitoring methods. The theoretically achievable accuracy of the measurement system is derived and veri ed by ground truth data of a distant clay pit slope and simulated deformations. It is shown that the stereo IATS concept is able to obtain higher precision in the determination of 3D deformations than other systems of comparable sensor establishment e ort.

A B S T R A C TRecent aeolian bedforms comprising loose sand are common on the martian surface and provide a mobility hazard to Mars rovers. The ExoMars rover will launch in 2020 to one of two candidate sites: Mawrth Vallis or Oxia Planum. Both sites contain numerous aeolian bedforms with simple ripple-like morphologies. The larger examples are 'Transverse Aeolian Ridges' (TARs), which stereo imaging analyses have shown to be a few metres high and up to a few tens of metres across. Where they occur, TARs therefore present a serious, but recognized and avoidable, rover mobility hazard. There also exists a population of smaller bedforms of similar morphology, but it is unknown whether these bedforms will be traversable by the ExoMars rover. We informally refer to these bedforms as "mini-TARs", as they are about an order of magnitude smaller than most TARs observed to date. They are more abundant than TARs in the Oxia Planum site, and can be pervasive in areas. The aim of this paper is to estimate the heights of these features, which are too small to measured using High Resolution Imaging Science Experiment (HiRISE) Digital Elevation Models (DEMs), from orbital data alone. Thereby, we aim to increase our knowledge of the hazards in the proposed ExoMars landing sites. We propose a methodology to infer the height of these mini-TARs based on comparisons with similar features observed by previous Mars rovers. We use roverbased stereo imaging from the NASA Mars Exploration Rover (MER) Opportunity and PRo3D software, a 3D visualisation and analysis tool, to measure the size and height of mini-TARs in the Meridiani Planum region of Mars. These are good analogues for the smaller bedforms at the ExoMars rover candidate landing sites. We show that bedform height scales linearly with length (as measured across the bedform, perpendicular to the crest ridge) with a ratio of about 1:15. We also measured the lengths of many of the smaller aeolian bedforms in the ExoMars rover Oxia Planum candidate landing site, and find that they are similar to those of the Meridiani Planum miniTARs. Assuming that the Oxia Planum bedforms have the same length/height ratio as the MER Opportunity miniTARs, we combine these data to provide a probabilistic method of inferring the heights of bedforms at the Oxia Planum site. These data can then be used to explore the likely traversability of this site. For example, our method suggests that most of the bedforms studied in Oxia Planum have ridge crests higher than 15 cm, but lower than 25 cm. Hence, if the tallest bedforms the ExoMars rover will be able to safely cross are only 15 cm high, then the Oxia Planum sites studied here contain mostly impassable bedforms. However, if the rover can safely traverse 25 cm high bedforms, then most bedforms here will be smaller than this threshold. As an additional outcome, our results show that the mini-TARs have length/height ratios similar to TARs in general. Hence, these bedforms could probably be classified simply as "small TARs", rather than forming a discrete...

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