Analyzing a Block of HRSC Image Strips for a Simultaneous Bundle Adjustment

Bostelmann, Jonas; Heipke, Christian

doi:10.5194/isprsannals-ii-4-15-2014

Cited by 6 publications

(3 citation statements)

References 10 publications

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“…Photogrammetric processing was based on the methodology applied to the generation of HRSC Level-4 datasets for the planetary data archives, i.e. image preprocessing, stereo matching, and surface reconstruction (Gwinner et al 2009), photogrammetric adjustment and co-registration to MOLA (Spiegel 2007;Gwinner et al 2010a), bundle block adjustment (Spiegel 2007;Bostelmann and Heipke 2014), and DEM generation techniques allowing for variations in density and precision of the points derived from multiple orbits (Gwinner et al 2010b(Gwinner et al , 2016.…”

Section: Hrsc Dem and Orthoimage Mosaicmentioning

confidence: 99%

Selection of the InSight Landing Site

et al. 2016

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The selection of the Discovery Program InSight landing site took over four years from initial identification of possible areas that met engineering constraints, to downselection via targeted data from orbiters (especially Mars Reconnaissance SPAC 11214 layout: Small Condensed v.2.1 file: spac321.tex (ELE) class: spr-small-v1.2 v.2016/06/09 Prn:2016/12/02; 14:37 p. 1/91» « d o c to p i c : R e v i e w P a p e rn u m b e r i n g s t y l e : C o n t e n t O n l yr e f e r e n c e s t y l e : a p s » latitude (initially 15°S-5°N and later 3°N-5°N for solar power and thermal management of the spacecraft), ellipse size (130 km by 27 km from ballistic entry and descent), and a load bearing surface without thick deposits of dust, severely limited acceptable areas to western Elysium Planitia. Within this area, 16 prospective ellipses were identified, which lie ∼600 km north of the Mars Science Laboratory (MSL) rover. Mapping of terrains in rapidly acquired CTX images identified especially benign smooth terrain and led to the downselection to four northern ellipses. Acquisition of nearly continuous HiRISE, additional Thermal Emission Imaging System (THEMIS), and High Resolution Stereo Camera (HRSC) images, along with radar data confirmed that ellipse E9 met all landing site constraints: with slopes <15°at 84 m and 2 m length scales for radar tracking and touchdown stability, low rock abundance (<10 %) to avoid impact and spacecraft tip over, instrument deployment constraints, which included identical slope and rock abundance constraints, a radar reflective and load bearing surface, and a fragmented regolith ∼5 m thick for full penetration of the heat flow probe. Unlike other Mars landers, science objectives did not directly influence landing site selection. AUTHOR'S PROOF

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Section: Hrsc Dem and Orthoimage Mosaicmentioning

confidence: 99%

Selection of the InSight Landing Site

et al. 2016

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“…Before the simultaneous bundle adjustment of the block is carried out, the tie point filter, which is introduced in Section 2.3, is employed to optimize the distribution of the tie points. A description of the other methods used in the software modules, depicted as colored, rounded boxes in Figure 3 can be found in (Bostelmann and Heipke, 2014).…”

Section: Processing Overviewmentioning

confidence: 99%

Optimizing the Distribution of Tie Points for the Bundle Adjustment Of HRSC Image Mosaics

Bostelmann

Breitkopf

Heipke

2017

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:For a systematic mapping of the Martian surface, the Mars Express orbiter is equipped with a multi-line scanner: Since the beginning of 2004 the High Resolution Stereo Camera (HRSC) regularly acquires long image strips. By now more than 4,000 strips covering nearly the whole planet are available. Due to the nine channels, each with different viewing direction, and partly with different optical filters, each strip provides 3D and color information and allows the generation of digital terrain models (DTMs) and orthophotos. To map larger regions, neighboring HRSC strips can be combined to build DTM and orthophoto mosaics. The global mapping scheme Mars Chart 30 is used to define the extent of these mosaics. In order to avoid unreasonably large data volumes, each MC-30 tile is divided into two parts, combining about 90 strips each. To ensure a seamless fit of these strips, several radiometric and geometric corrections are applied in the photogrammetric process. A simultaneous bundle adjustment of all strips as a block is carried out to estimate their precise exterior orientation. Because size, position, resolution and image quality of the strips in these blocks are heterogeneous, also the quality and distribution of the tie points vary. In absence of ground control points, heights of a global terrain model are used as reference information, and for this task a regular distribution of these tie points is preferable. Besides, their total number should be limited because of computational reasons. In this paper, we present an algorithm, which optimizes the distribution of tie points under these constraints. A large number of tie points used as input is reduced without affecting the geometric stability of the block by preserving connections between strips. This stability is achieved by using a regular grid in object space and discarding, for each grid cell, points which are redundant for the block adjustment. The set of tie points, filtered by the algorithm, shows a more homogenous distribution and is considerably smaller. Used for the block adjustment, it yields results of equal quality, with significantly shorter computation time. In this work, we present experiments with MC-30 half-tile blocks, which confirm our idea for reaching a stable and faster bundle adjustment. The described method is used for the systematic processing of HRSC data.

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“…Within the bundle adjustment first, and this is the topic of this paper, the EO of each strip is reconstructed individually. This EO is then used in a block adjustment (Bostelmann and Heipke, 2014) to reduce inconsistencies between the strips. Afterwards DTMs are created and used for an ortho-rectification, either as single strips or as regional mosaics.…”

Section: Introductionmentioning

confidence: 99%

Global Bundle Adjustment With Variable Orientation Point Distance for Precise Mars Express Orbit Reconstruction

Bostelmann¹,

Heipke²

2016

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:The photogrammetric bundle adjustment of line scanner image data requires a precise description of the time-dependent image orientation. For this task exterior orientation parameters of discrete points are used to model position and viewing direction of a camera trajectory via polynomials. This paper investigates the influence of the distance between these orientation points on the quality of trajectory modeling. A new method adapts the distance along the trajectory to the available image information. Compared to a constant distance as used previously, a better reconstruction of the exterior orientation is possible, especially when image quality changes within a strip. In our research we use image strips of the High Resolution Stereo Camera (HRSC), taken to map the Martian surface. Several experiments on the global image data set have been carried out to investigate how the bundle adjustment improves the image orientation, if the new method is employed. For evaluation the forward intersection errors of 3D points derived from HRSC images, as well as their remaining height differences to the MOLA DTM are used. In 13.5 % (515 of 3,828) of the image strips, taken during this ongoing mission over the last 12 years, high frequency image distortions were found. Bundle adjustment with a constant orientation point distance was able to reconstruct the orbit in 239 (46.4 %) cases. A variable orientation point distance increased this number to 507 (98.6 %).

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Analyzing a Block of HRSC Image Strips for a Simultaneous Bundle Adjustment

Cited by 6 publications

References 10 publications

Selection of the InSight Landing Site

Selection of the InSight Landing Site

Optimizing the Distribution of Tie Points for the Bundle Adjustment Of HRSC Image Mosaics

Global Bundle Adjustment With Variable Orientation Point Distance for Precise Mars Express Orbit Reconstruction

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