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How Well Do We Know Europa’s Topography? An Evaluation of the Variability in Digital Terrain Models of Europa. REMOTE SENSING 2021. [DOI: 10.3390/rs13245097] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Jupiter’s moon Europa harbors one of the most likely environments for extant extraterrestrial life. Determining whether Europa is truly habitable requires understanding the structure and thickness of its ice shell, including the existence of perched water or brines. Stereo-derived topography from images acquired by NASA Galileo’s Solid State Imager (SSI) of Europa are often used as a constraint on ice shell structure and heat flow, but the uncertainty in such topography has, to date, not been rigorously assessed. To evaluate the current uncertainty in Europa’s topography we generated and compared digital terrain models (DTMs) of Europa from SSI images using both the open-source Ames Stereo Pipeline (ASP) software and the commercial SOCET SET® software. After first describing the criteria for assessing stereo quality in detail, we qualitatively and quantitatively describe both the horizontal resolution and vertical precision of the DTMs. We find that the horizontal resolution of the SOCET SET® DTMs is typically 8–11× the root mean square (RMS) pixel scale of the images, whereas the resolution of the ASP DTMs is 9–13× the maximum pixel scale of the images. We calculate the RMS difference between the ASP and SOCET SET® DTMs as a proxy for the expected vertical precision (EP), which is a function of the matching accuracy and stereo geometry. We consistently find that the matching accuracy is ~0.5 pixels, which is larger than well-established “rules of thumb” that state that the matching accuracy is 0.2–0.3 pixels. The true EP is therefore ~1.7× larger than might otherwise be assumed. In most cases, DTM errors are approximately normally distributed, and errors that are several times the derived EP occur as expected. However, in two DTMs, larger errors (differences) occur and correlate with real topography. These differences primarily result from manual editing of the SOCET SET® DTMs. The product of the DTM error and the resolution is typically 4–8 pixel2 if calculated using the RMS image scale for SOCET SET® DTMs and the maximum images scale for the ASP DTMs, which is consistent with recent work using martian data sets and suggests that the relationship applies more broadly. We evaluate how ASP parameters affect DTM quality and find that using a smaller subpixel refinement kernel results in DTMs with smaller (better) resolution but, in some cases, larger gaps, which are sometimes reduced by increasing the size of the correlation kernel. We conclude that users of ASP should always systematically evaluate the choice of parameters for a given dataset.
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Evaluating Stereo Digital Terrain Model Quality at Mars Rover Landing Sites with HRSC, CTX, and HiRISE Images. REMOTE SENSING 2021. [DOI: 10.3390/rs13173511] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
We have used high-resolution digital terrain models (DTMs) of two rover landing sites based on mosaicked images from the High-Resolution Imaging Science Experiment (HiRISE) camera as a reference to evaluate DTMs based on High-Resolution Stereo Camera (HRSC) and Context Camera (CTX) images. The Next-Generation Automatic Terrain Extraction (NGATE) matcher in the SOCET SET and GXP® commercial photogrammetric systems produces DTMs with good (small) horizontal resolution but large vertical error. Somewhat surprisingly, results for NGATE are terrain dependent, with poorer resolution and smaller errors on smoother surfaces. Multiple approaches to smoothing the NGATE DTMs give similar tradeoffs between resolution and error; a 5 × 5 lowpass filter is near optimal in terms of both combined resolution-error performance and local slope estimation. Smoothing with an area-based matcher, the standard processing for U.S. Geological Survey planetary DTMs, yields similar errors to the 5 × 5 filter at slightly worse resolution. DTMs from the HRSC team processing pipeline fall within this same trade space but are less sensitive to terrain roughness. DTMs produced with the Ames Stereo Pipeline also fall in this space at resolutions intermediate between NGATE and the team pipeline. Considered individually, resolution and error each varied by approximately a factor of 2. Matching errors were 0.2–0.5 pixels but most results fell in the 0.2–0.3 pixel range that has been stated as a rule of thumb in multiple prior studies. Horizontal resolutions of 10–20 image pixels were found, consistently greater than the 3–5 pixel spacing generally used for stereo DTM production. Resolution and precision were inversely correlated; their product varied by ≤20% (4–5 pixels squared). Refinement of the stereo DTM by photoclinometry can yield quantitative improvement in resolution (more than a factor of 2), provided that albedo variations over distances smaller than the stereo DTM resolution are not too severe. We offer specific guidance for both producers and users of planetary stereo DTMs, based on our results.
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McEwen AS, Eliason EM, Bergstrom JW, Bridges NT, Hansen CJ, Delamere WA, Grant JA, Gulick VC, Herkenhoff KE, Keszthelyi L, Kirk RL, Mellon MT, Squyres SW, Thomas N, Weitz CM. Mars Reconnaissance Orbiter's High Resolution Imaging Science Experiment (HiRISE). ACTA ACUST UNITED AC 2007. [DOI: 10.1029/2005je002605] [Citation(s) in RCA: 1056] [Impact Index Per Article: 62.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Kirk RL, Howington-Kraus E, Redding B, Galuszka D, Hare TM, Archinal BA, Soderblom LA, Barrett JM. High-resolution topomapping of candidate MER landing sites with Mars Orbiter Camera narrow-angle images. ACTA ACUST UNITED AC 2003. [DOI: 10.1029/2003je002131] [Citation(s) in RCA: 97] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Randolph L. Kirk
- Astrogeology Team; U.S. Geological Survey; Flagstaff Arizona USA
| | | | - Bonnie Redding
- Astrogeology Team; U.S. Geological Survey; Flagstaff Arizona USA
| | - Donna Galuszka
- Astrogeology Team; U.S. Geological Survey; Flagstaff Arizona USA
| | - Trent M. Hare
- Astrogeology Team; U.S. Geological Survey; Flagstaff Arizona USA
| | | | | | - Janet M. Barrett
- Astrogeology Team; U.S. Geological Survey; Flagstaff Arizona USA
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Beyer RA, McEwen AS, Kirk RL. Meter-scale slopes of candidate MER landing sites from point photoclinometry. ACTA ACUST UNITED AC 2003. [DOI: 10.1029/2003je002120] [Citation(s) in RCA: 35] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Ross A. Beyer
- Department of Planetary Sciences; University of Arizona; Tucson Arizona USA
| | - Alfred S. McEwen
- Department of Planetary Sciences; University of Arizona; Tucson Arizona USA
| | - Randolph L. Kirk
- Astrogeology Team; U.S. Geological Survey; Flagstaff Arizona USA
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Bell JF, Squyres SW, Herkenhoff KE, Maki JN, Arneson HM, Brown D, Collins SA, Dingizian A, Elliot ST, Hagerott EC, Hayes AG, Johnson MJ, Johnson JR, Joseph J, Kinch K, Lemmon MT, Morris RV, Scherr L, Schwochert M, Shepard MK, Smith GH, Sohl-Dickstein JN, Sullivan RJ, Sullivan WT, Wadsworth M. Mars Exploration Rover Athena Panoramic Camera (Pancam) investigation. ACTA ACUST UNITED AC 2003. [DOI: 10.1029/2003je002070] [Citation(s) in RCA: 209] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- J. F. Bell
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - S. W. Squyres
- Department of Astronomy; Cornell University; Ithaca New York USA
| | | | - J. N. Maki
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - H. M. Arneson
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - D. Brown
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - S. A. Collins
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - A. Dingizian
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - S. T. Elliot
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - E. C. Hagerott
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - A. G. Hayes
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - M. J. Johnson
- Department of Astronomy; Cornell University; Ithaca New York USA
| | | | - J. Joseph
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - K. Kinch
- Neils Bohr Institute; University of Copenhagen; Copenhagen Denmark
| | - M. T. Lemmon
- Department of Atmospheric Science; Texas A&M University; College Station Texas USA
| | | | - L. Scherr
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - M. Schwochert
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - M. K. Shepard
- Department of Geography and Geosciences; Bloomsburg University; Bloomsburg Pennsylvania USA
| | | | | | - R. J. Sullivan
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - W. T. Sullivan
- Department of Astronomy; University of Washington; Seattle Washington USA
| | - M. Wadsworth
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
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Herkenhoff KE, Squyres SW, Bell JF, Maki JN, Arneson HM, Bertelsen P, Brown DI, Collins SA, Dingizian A, Elliott ST, Goetz W, Hagerott EC, Hayes AG, Johnson MJ, Kirk RL, McLennan S, Morris RV, Scherr LM, Schwochert MA, Shiraishi LR, Smith GH, Soderblom LA, Sohl-Dickstein JN, Wadsworth MV. Athena Microscopic Imager investigation. ACTA ACUST UNITED AC 2003. [DOI: 10.1029/2003je002076] [Citation(s) in RCA: 115] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- K. E. Herkenhoff
- Astrogeology Team, U.S. Geological Survey; Flagstaff Arizona USA
| | - S. W. Squyres
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - J. F. Bell
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - J. N. Maki
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - H. M. Arneson
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - P. Bertelsen
- Niels Bohr Institute for Astronomy, Physics and Geophysics; University of Copenhagen; Copenhagen Denmark
| | - D. I. Brown
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - S. A. Collins
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - A. Dingizian
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - S. T. Elliott
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - W. Goetz
- Niels Bohr Institute for Astronomy, Physics and Geophysics; University of Copenhagen; Copenhagen Denmark
| | - E. C. Hagerott
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - A. G. Hayes
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - M. J. Johnson
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - R. L. Kirk
- Astrogeology Team, U.S. Geological Survey; Flagstaff Arizona USA
| | - S. McLennan
- Department of Geosciences; State University of New York; Stony Brook New York USA
| | | | - L. M. Scherr
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - M. A. Schwochert
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - L. R. Shiraishi
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | | | - L. A. Soderblom
- Astrogeology Team, U.S. Geological Survey; Flagstaff Arizona USA
| | | | - M. V. Wadsworth
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
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Golombek MP, Haldemann AFC, Forsberg-Taylor NK, DiMaggio EN, Schroeder RD, Jakosky BM, Mellon MT, Matijevic JR. Rock size-frequency distributions on Mars and implications for Mars Exploration Rover landing safety and operations. ACTA ACUST UNITED AC 2003. [DOI: 10.1029/2002je002035] [Citation(s) in RCA: 98] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- M. P. Golombek
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - A. F. C. Haldemann
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - N. K. Forsberg-Taylor
- Department of Environmental Sciences; University of Virginia; Charlottesville Virginia USA
| | - E. N. DiMaggio
- Department of Geological Sciences; University of Michigan; Ann Arbor Michigan USA
| | - R. D. Schroeder
- Department of Geology; California State University; Bakersfield California USA
| | - B. M. Jakosky
- Laboratory for Atmospheric and Space Physics; University of Colorado; Boulder Colorado USA
| | - M. T. Mellon
- Laboratory for Atmospheric and Space Physics; University of Colorado; Boulder Colorado USA
| | - J. R. Matijevic
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
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Jolliff B, Knoll A, Morris RV, Moersch J, McSween H, Gilmore M, Arvidson R, Greeley R, Herkenhoff K, Squyres S. Remotely sensed geology from lander-based to orbital perspectives: Results of FIDO rover May 2000 field tests. ACTA ACUST UNITED AC 2002. [DOI: 10.1029/2000je001470] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- B. Jolliff
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - A. Knoll
- Botanical Museum; Harvard University; Cambridge Massachusetts USA
| | | | - J. Moersch
- Department of Geological Sciences; University of Tennessee; Knoxville Tennessee USA
| | - H. McSween
- Department of Geological Sciences; University of Tennessee; Knoxville Tennessee USA
| | - M. Gilmore
- Jet Propulsion Laboratory; Pasadena California USA
| | - R. Arvidson
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - R. Greeley
- Department of Geology; Arizona State University; Tempe Arizona USA
| | | | - S. Squyres
- Center for Radiophysics and Space Research; Cornell University; Ithaca New York USA
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11
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Sullivan R, Greeley R, Kraft M, Wilson G, Golombek M, Herkenhoff K, Murphy J, Smith P. Results of the Imager for Mars Pathfinder windsock experiment. ACTA ACUST UNITED AC 2000. [DOI: 10.1029/1999je001234] [Citation(s) in RCA: 83] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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12
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Golombek MP, Bridges NT. Erosion rates on Mars and implications for climate change: Constraints from the Pathfinder landing site. ACTA ACUST UNITED AC 2000. [DOI: 10.1029/1999je001043] [Citation(s) in RCA: 146] [Impact Index Per Article: 6.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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13
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Golombek MP, Anderson RC, Barnes JR, Bell JF, Bridges NT, Britt DT, Brückner J, Cook RA, Crisp D, Crisp JA, Economou T, Folkner WM, Greeley R, Haberle RM, Hargraves RB, Harris JA, Haldemann AFC, Herkenhoff KE, Hviid SF, Jaumann R, Johnson JR, Kallemeyn PH, Keller HU, Kirk RL, Knudsen JM, Larsen S, Lemmon MT, Madsen MB, Magalhães JA, Maki JN, Malin MC, Manning RM, Matijevic J, McSween HY, Moore HJ, Murchie SL, Murphy JR, Parker TJ, Rieder R, Rivellini TP, Schofield JT, Seiff A, Singer RB, Smith PH, Soderblom LA, Spencer DA, Stoker CR, Sullivan R, Thomas N, Thurman SW, Tomasko MG, Vaughan RM, Wänke H, Ward AW, Wilson GR. Overview of the Mars Pathfinder Mission: Launch through landing, surface operations, data sets, and science results. ACTA ACUST UNITED AC 1999. [DOI: 10.1029/98je02554] [Citation(s) in RCA: 108] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Ward AW, Gaddis LR, Kirk RL, Soderblom LA, Tanaka KL, Golombek MP, Parker TJ, Greeley R, Kuzmin RO. General geology and geomorphology of the Mars Pathfinder landing site. ACTA ACUST UNITED AC 1999. [DOI: 10.1029/1998je900021] [Citation(s) in RCA: 36] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Johnson JR, Kirk R, Soderblom LA, Gaddis L, Reid RJ, Britt DT, Smith P, Lemmon M, Thomas N, Bell JF, Bridges NT, Anderson R, Herkenhoff KE, Maki J, Murchie S, Dummel A, Jaumann R, Trauthan F, Arnold G. Preliminary results on photometric properties of materials at the Sagan Memorial Station, Mars. ACTA ACUST UNITED AC 1999. [DOI: 10.1029/98je02247] [Citation(s) in RCA: 60] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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