Photogrammetric processing of rover imagery of the 2003 Mars Exploration Rover mission

In the 2003 Mars Exploration Rover (MER) mission, the twin rovers, Spirit and Opportunity, carry identical Athena instrument payloads and engineering cameras for exploration of the Gusev Crater and Meridiani Planum landing sites. This paper presents the photogrammetric processing techniques for high accuracy topographic mapping and rover localization at the two landing sites. Detailed discussions about camera models, reference frames, interest point matching, automatic tie point selection, image network construction, incremental bundle adjustment, and topographic product generation are given. The developed rover localization method demonstrated the capability of correcting position errors caused by wheel slippages, azimuthal angle drift and other navigation errors. A comparison was also made between the bundle-adjusted rover traverse and the rover track imaged from the orbit. Mapping products including digital terrain models, orthophotos, and rover traverse maps have been generated for over two years of operations, and disseminated to scientists and engineers of the mission through a web-based GIS. The maps and localization information have been extensively used to support tactical operations and strategic planning of the mission.