The Mars Science Laboratory Engineering Cameras

Maki, J. N.; Thiessen, David; Pourangi, A.; Kobzeff, P.; Lee, Steven W.; Dingizian, A.; Schwochert, Mark A.

doi:10.1007/978-1-4614-6339-9_5

Cited by 52 publications

(61 citation statements)

References 10 publications

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“…There are two pairs of Navcams, but only one pair is active at a time. Navcam has a 45 o field of view and a pixel scale of 0.82 mrad/pixel (Maki et al, ). Navcam images were used to provide additional geologic context and to select targets across VRR.…”

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

A Lacustrine Paleoenvironment Recorded at Vera RubinRidge, Gale Crater: Overview of the Sedimentology and Stratigraphy Observed by the Mars ScienceLaboratory Curiosity Rover

et al. 2020

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For ~500 Martian solar days (sols), the Mars Science Laboratory team explored Vera Rubin ridge (VRR), a topographic feature on the northwest slope of Aeolis Mons. Here we review the sedimentary facies and stratigraphy observed during sols 1,800–2,300, covering more than 100 m of stratigraphic thickness. Curiosity's traverse includes two transects across the ridge, which enables investigation of lateral variability over a distance of ~300 m. Three informally named stratigraphic members of the Murray formation are described: Blunts Point, Pettegrove Point, and Jura, with the latter two exposed on VRR. The Blunts Point member, exposed just below the ridge, is characterized by a recessive, fine‐grained facies that exhibits extensive planar lamination and is crosscut by abundant curvi‐planar veins. The Pettegrove Point member is more resistant, fine‐grained, thinly planar laminated, and contains a higher abundance of diagenetic concretions. Conformable above the Pettegrove Point member is the Jura member, which is also fine‐grained and parallel stratified, but is marked by a distinct step in topography, which coincides with localized meter‐scale inclined strata, a thinly and thickly laminated facies, and occasional crystal molds. All members record low‐energy lacustrine deposition, consistent with prior observations of the Murray formation. Uncommon outcrops of low‐angle stratification suggest possible subaqueous currents, and steeply inclined beds may be the result of slumping. Collectively, the rocks exposed at VRR provide additional evidence for a long‐lived lacustrine environment (in excess of 106 years via comparison to terrestrial records of sedimentation), which extends our understanding of the duration of habitable conditions in Gale crater.

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Section: Methodsmentioning

confidence: 99%

“…The Curiosity rover also contains four pairs of Engineering Hazard Assessment Cameras (Hazcams) mounted on the lower portion of the front and rear of the rover (Maki et al, ). Each camera has a 120° field of view and a pixel scale of 2.1 mrad/pixel.…”

Section: Methodsmentioning

confidence: 99%

A Lacustrine Paleoenvironment Recorded at Vera RubinRidge, Gale Crater: Overview of the Sedimentology and Stratigraphy Observed by the Mars ScienceLaboratory Curiosity Rover

et al. 2020

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“…Curiosity's NavCams, while build-to-print versions of the MERs NavCams, are much higher above the ground: nearly 7 ft, compared with 5 ft. Curiosity's NavCams also have a much larger stereo baseline: 42 cm compared with 20 cm [22,23]. The higher vantage point allows Curiosity to see further and over larger obstacles, and the larger baseline allows Curiosity to produce stereo data out to almost 100 m, compared with around 25 m for the MERs [22,23].…”

Section: Mars Science Laboratory/curiositymentioning

confidence: 99%

“…Curiosity's NavCams also have a much larger stereo baseline: 42 cm compared with 20 cm [22,23]. The higher vantage point allows Curiosity to see further and over larger obstacles, and the larger baseline allows Curiosity to produce stereo data out to almost 100 m, compared with around 25 m for the MERs [22,23]. Curiosity's processor is also approximately 10 times the speed of the MERs' processors [20] allowing processes such as visual odometry to run in much less time.…”

Section: Mars Science Laboratory/curiositymentioning

confidence: 99%

Surface Navigation

Iles

Winter

Silva

et al. 2016

Contemporary Planetary Robotics

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“…For example, numerous cameras are used in NASA's Mars Exploration Rover [1] and Mars Science Laboratory [2] missions to enable safe rover descent, autonomous driving, and science data collection. Similarly on Earth-bound systems, such as Google's selfdriving car, lidar sensors are used for mapping, localization, and detecting other nearby hazards/vehicles [3].…”

Section: Introductionmentioning

confidence: 99%

Two-axis scanning lidar geometric calibration using intensity imagery and distortion mapping

Dong

Anderson

Barfoot

2013

2013 IEEE International Conference on Robotics and Automation

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Accurate pose estimation relies on high-quality sensor measurements. Due to manufacturing tolerance, every sensor (camera or lidar) needs to be individually calibrated. Feature-based techniques using simple calibration targets (e.g., a checkerboard pattern) have become the dominant approach to camera sensor calibration. Existing lidar calibration methods require a controlled environment (e.g., a space of known dimension) or specific configurations of supporting hardware (e.g., coupled with GPS/IMU). Leveraging recent state estimation developments based on lidar intensity imagery, this paper presents a calibration procedure for a two-axis scanning lidar using only an inexpensive checkerboard calibration target. In addition, the proposed method generalizes a two-axis scanning lidar as an idealized spherical camera with additive measurement distortions. Conceptually, this is not unlike normal camera calibration in which an arbitrary camera is modelled as an idealized projective (pinhole) camera with tangential and radial distortions. The resulting calibration method, we believe, can be readily applied to a variety of two-axis scanning lidars. We present the measurement improvement quantitatively, as well as the impact of calibration on a 1.1-km visual odometry estimate.

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The Mars Science Laboratory Engineering Cameras

Cited by 52 publications

References 10 publications

A Lacustrine Paleoenvironment Recorded at Vera RubinRidge, Gale Crater: Overview of the Sedimentology and Stratigraphy Observed by the Mars ScienceLaboratory Curiosity Rover

A Lacustrine Paleoenvironment Recorded at Vera RubinRidge, Gale Crater: Overview of the Sedimentology and Stratigraphy Observed by the Mars ScienceLaboratory Curiosity Rover

Surface Navigation

Two-axis scanning lidar geometric calibration using intensity imagery and distortion mapping

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