Abstract
The Instrument Site Selection and deployment for the upcoming Mars InSight (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) Lander is highly dependent on image products, particularly mosaics, created from the Instrument Deployment Camera (IDC) and Instrument Context Camera (ICC). When data are downlinked, the Multimission Image Processing Lab (MIPL) at JPL will process image and instrument data to aid in the deployment and monitoring of these instruments. MIPL’s functions include raw telemetry processing, stereo correlation, mosaic generation, terrain mesh generation, radiometric correction, pointing correction (bundle adjustment), and the creation of products such as instrument deployment maps, surface normal products, slope products, XYZ point clouds, and roughness map layers. A software pipeline performs systematic, automated execution of the programs that create these products on every image and stereo pair received, while the pointing correction and most mosaics are hand-generated by the MIPL team members for testing and surface operations. Several mission operations software packages are used to view, query, and analyze the processed images and mosaics for placing the main science instruments for the mission.
Similar content being viewed by others
References
C. Acton, S. Slavney, R.E. Arvidson, L.R. Gaddis, M. Gordon, S. Lavoie, The planetary data system. Lunar Planet. Inf. Bull. 150, 2–11 (2017)
S. Agarawal, K. Mierle, et al. (web) (2018). http://ceres-solver.org
D. Alexander, R. Deen, Mars Science Laboratory Project Software Interface Specification (SIS); Camera & LIBS Experiment Data Record (EDR) and Reduced Data Record (RDR) Data Products, version 4.0. JPL Doc. D-38107, data set MSL-M-NAVCAM-2-EDR-V1.0, NASA Planetary Data System (2017)
D.A. Alexander et al., Processing of Mars Exploration Rover imagery for science and operations planning. J. Geophys. Res. 111, E02S02 (2006). https://doi.org/10.1029/2005JE002462
W.B. Banerdt et al., The InSight mission for 2018, in 48th Lunar and Planet. Sci. Conf., Abstract 1896 (2017)
F.J. Calef, H.E. Gengl, T. Soliman, S.P. Abercrombie, M.W. Powell, MMGIS: a multi-mission geographic information system for in situ Mars operations, in 48th Lunar and Planetary Science Conference (2017), #2541
CCSDS, Standard Formatted Data Units—Structure and Construction Rules. Recommendation for Space Data System Standards (No 2). CCSDS 620.0-B-2. Blue Book (1992). https://public.ccsds.org/Pubs/622x0b1.pdf
C. Cheng, R. Patel, E. Sayfi, H. Lee, Multi-mission automated instrument product generation implemented capabilities, in IEEE Aerospace Conference, Big Sky, Montana, March 2008 (2008a)
C. Cheng et al., Using a multi-mission automated system for product generation, in SpaceOps 2008, Heidelberg, Germany, May (2008b)
CIE, Commission internationale de l’eclairage proceedings, 1931 (Cambridge University Press, Cambridge, 1932)
P. Cignoni, M. Callieri, M. Corsini, M. Dellepiane, F. Ganovelli, G. Ranzuglia, MeshLab: an open-source mesh processing tool, in Sixth Eurographics Italian Chapter Conference (2008), pp. 129–136
R.G. Deen, Cost savings through multimission code reuse for Mars image products, in 5th Int’l Symposium on Reducing the Cost of Spacecraft Ground Systems and Operations (RCSGSO), Deep Space Comm. and Nav. Syst. Cent. of Excellence (DESCANSO), Pasadena, California, 2003 (2003)
R.G. Deen, J.J. Lorre, Seeing in three dimensions: correlation and triangulation of Mars Exploration Rover imagery, in International Conference on Systems, Man, and Cybernetics, Inst. of Electr. and Electron. Eng., Waikoloa, Hawaii, 2005 (2005)
R. Deen, A. Chen, K. Capraro, H. Gengl, S. Algermissen, N. Ruoff, O. Pariser, Pointing correction for Mars surface mosaics, in 2nd Planetary Data Workshop, Abstract #7055, Flagstaff, AZ (2015a)
R.G. Deen, S.C. Mayer, E.M. Sayfe, C. Radulescu, S.R. Levoe, VICAR open source release, in 2nd Planetary Data Workshop, Abstract #7059, Flagstaff, AZ (2015b)
R. Deen, P. Zamani, H. Abarca, J. Maki, InSight software interface specification: Camera Experiment Data Record (EDR) and Reduced Data Record (RDR) data products, in NASA Planetary Data System (2018, in press)
W.M. Folkner et al., The rotation and interior structure experiment on the InSight mission to Mars. Space Sci. Rev. 214(5), 100 (2018)
B.A. Galler, M.J. Fisher, An improved equivalence algorithm. Commun. ACM 7(5), 301–303 (1964) (cf. p. 56)
D.B. Gennery, Generalized camera calibration including fish-eye lenses. Int. J. Comput. Vis. 68(3), 239–266 (2006). https://doi.org/10.1007/s11263-006-5168-1
S.B. Goldberg, M.W. Maimone, L. Matthies, Stereo vision and rover navigation software for planetary exploration, in 2002 IEEE Aerospace Conference, Inst. of Electr. and Electron. Eng., Big Sky, Montana (2002)
M. Golombek, D. Kipp, N. Warner, I.J. Daubar, R. Fergason, R. Kirk, R. Beyer, A. Huertas, S. Piqueux, N.E. Putzig, B.A. Campbell, G.A. Morgan, C. Charalambous, W.T. Pike, K. Gwinner, F. Calef, D. Kass, M. Mischna, J. Ashley, C. Bloom, N. Wigton, T. Hare, C. Schwartz, H. Gengl, L. Redmond, M. Trautman, J. Sweeney, C. Grima, I.B. Smith, E. Sklyanskiy, M. Lisano, J. Benardini, S. Smrekar, P. Lognonné, W.B. Banerdt, Selection of the InSight landing site. Space Sci. Rev. 211, 5–95 (2017). https://doi.org/10.1007/s11214-016-0321-9
M. Golombek et al., Geology and physical properties investigations by the InSight lander. Space Sci. Rev. 214(5), 84 (2018)
K. Grimes, J. Padams, G. Hollins, Web resource platform, in 3nd Planetary Data Workshop, Flagstaff, AZ (2017). Abstract #7131
A.W. Gruen, E.P. Baltsavias, Geometrically constrained multiphoto matching. Photogramm. Eng. Remote Sens. 54(5), 633–641 (1988). 1988
T. Huang, Component architecture—the software architecture for mission requirements, in 5th Int’l Symposium on Reducing the Cost of Spacecraft Ground Systems and Operations (RCSGSO), Deep Space Comm. and Nav. Syst. Cent. of Excellence (DESCANSO), Pasadena, California, 2003 (2003)
ITU, International Telecommunication Union Radiocommunication Sector, Recommendation ITU-R BT.709-6, “Parameter values for the HDTV standards for production and international programme exchange”, June 2015, BT Series, Broadcasting Service, Television, Electronic Publication Geneva, 2015 (2015). http://www.itu.int/rec/R-REC-BT.709-6-201506-I/en
S.K. LaVoie et al., Processing and analysis of Mars Pathfinder science data at the Jet Propulsion Laboratory’s Science Data Processing Systems section. J. Geophys. Res. 104(E4), 8831–8852 (1999)
P. Lognonné et al., SEIS: insight’s seismic experiment for internal structure of Mars. Space Sci. Rev. 215, 12 (2019)
D.G. Lowe, Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 60, 91 (2004). https://doi.org/10.1023/B:VISI.0000029664.99615.94
J. Maki, D. Thiessen, A. Pourangi, P. Kobzeff, T. Litwin, L. Scherr, S. Elliott, A. Dingizian, M. Maimone, The Mars Science Laboratory engineering cameras. Space Sci. Rev. 170, 77–93 (2012). https://doi.org/10.1007/s11214-012-9882-4
J.N. Maki, M. Golombek, R. Deen, H. Abarca, C. Sorice, T. Goodsall, M. Schwochert, M. Lemmon, A. Trebi-Ollennu, W.B. Banerdt, The color cameras on the InSight lander. Space Sci. Rev. 214(6), 105 (2018)
OBJ_Format (web). https://en.wikipedia.org/wiki/Wavefront_.obj_file
C.F. Olson, L.H. Matthies, J.R. Wright, R. Li, K. Di, Visual terrain mapping for Mars exploration. Comput. Vis. Image Underst. 105(1), 73–85 (2007)
Open_Inventor (web). https://www.openinventor.com
PDS_Imaging_Node (web). https://pds-imaging.jpl.nasa.gov/search
PDS_Marsviewer (web). https://pds-imaging.jpl.nasa.gov/tools/marsviewer/
SPICE (web). https://naif.jpl.nasa.gov/naif/index.html
T. Spohn et al., The heat flow and physical properties package (HP3) for the InSight mission. Space Sci. Rev. 214(5), 96 (2018)
J.E. Tomakyo, Computers in spaceflight: the NASA experience. Encyclopedia of Computer Science and Technology (Supplement 3), vol. 18, 292 (1988), NASA-CR-182505
A. Trebi-Ollennu et al., InSight Mars lander robotics instrument deployment system. Space Sci. Rev. 214(5), 93 (2018)
B. Triggs, P. McLauchlan, R. Hartley, A. Fitzgibbon, Bundle adjustment—a modern synthesis, in ICCV ’99: Proceedings of the International Workshop on Vision Algorithms (Springer, Berlin, 1999), pp. 298–372
VICAR (web). http://www-mipl.jpl.nasa.gov/vicar.html
D. Watson, An implementation of natural neighbor interpolation (1994). https://books.google.com/books?id=jMmjcQAACAAJ
G. Wyszecki, W.S. Stiles, Color Science: Concepts and Methods, Quantitative Data and Formulae, 2nd edn. (Wiley, New York, 1982). 1982
Z. Xing, F. Sayfi, Webification (W10N)—data on the web platform, in 2nd Planetary Data Workshop, Flagstaff, AZ (2015). Abstract #7066
Y. Yakimovsky, R. Cunningham, A system for extracting three dimensional measurements from a stereo pair of TV cameras. Comput. Graph. Image Process. 7, 195–210 (1978)
Acknowledgements
This work was supported by the InSight Project at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. The authors would like to thank Cecilia Cheng, Ashitey Trebi-Ollennu, Steven Myint, Omair Khan, Philip Bailey, Khaled Ali, and Won Kim for their contributions to the work described in this paper. This paper is InSight Contribution Number 75.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
The InSight Mission to Mars II
Edited by William B. Banerdt and Christopher T. Russell
Government sponsorship acknowledged
Rights and permissions
About this article
Cite this article
Abarca, H., Deen, R., Hollins, G. et al. Image and Data Processing for InSight Lander Operations and Science. Space Sci Rev 215, 22 (2019). https://doi.org/10.1007/s11214-019-0587-9
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s11214-019-0587-9