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Remote Sensing
Volume 15
Issue 18
10.3390/rs15184388
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Article

Rover Attitude and Camera Parameter: Rock Measurements on Mars Surface Based on Rover Attitude and Camera Parameter for Tianwen-1 Mission

by
Dian Zheng
1,
Linhui Wei
1,
Weikun Lv
1,
Yu Liu
1,2,* and
Yumei Wang
1
1
School of Artificial Intelligence, Beijing University of Posts and Telecommunications, Beijing 100876, China
2
Research Center of Networks and Communications, Peng Cheng Laboratory, Shenzhen 518000, China
*
Author to whom correspondence should be addressed.
Remote Sens. 2023, 15(18), 4388; https://doi.org/10.3390/rs15184388
Submission received: 31 July 2023 / Revised: 2 September 2023 / Accepted: 4 September 2023 / Published: 6 September 2023
(This article belongs to the Special Issue Advances in Remote Sensing of Mars: Geomorphological Research and Environmental Assessment)
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Abstract

Rocks, prominent features on the surface of Mars, are a primary focus of Mars exploration missions. The accuracy of recognizing rock information, including size and position, deeply affects the path planning for rovers on Mars and the geological exploration of Mars. In this paper, we present a rock measurement method for the Mars surface based on a Rover Attitude and Camera Parameter (RACP). We analyze the imaging process of the Navigation and Terrain Camera (NaTeCam) on the Zhurong rover, which involves utilizing a semi-spherical model (SSM) to characterize the camera’s attitude, a projection model (PM) to connect the image data with the three-dimensional (3D) environment, and then estimating the distance and size of rocks. We conduct a test on NaTeCam images and find that the method is effective in measuring the distance and size to Martian rocks and identifying rocks at specific locations. Furthermore, an analysis of the impact of uncertain factors is conducted. The proposed RACP method offers a reliable solution for automatically analyzing the rocks on Mars, which provides a possible solution for the route planning in similar tasks.
Keywords: Mars; rock measure; rover attitude; camera parameter; Navigation and Terrain Camera Mars; rock measure; rover attitude; camera parameter; Navigation and Terrain Camera
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MDPI and ACS Style

Zheng, D.; Wei, L.; Lv, W.; Liu, Y.; Wang, Y. Rover Attitude and Camera Parameter: Rock Measurements on Mars Surface Based on Rover Attitude and Camera Parameter for Tianwen-1 Mission. Remote Sens. 2023, 15, 4388. https://doi.org/10.3390/rs15184388

AMA Style

Zheng D, Wei L, Lv W, Liu Y, Wang Y. Rover Attitude and Camera Parameter: Rock Measurements on Mars Surface Based on Rover Attitude and Camera Parameter for Tianwen-1 Mission. Remote Sensing. 2023; 15(18):4388. https://doi.org/10.3390/rs15184388

Chicago/Turabian Style

Zheng, Dian, Linhui Wei, Weikun Lv, Yu Liu, and Yumei Wang. 2023. "Rover Attitude and Camera Parameter: Rock Measurements on Mars Surface Based on Rover Attitude and Camera Parameter for Tianwen-1 Mission" Remote Sensing 15, no. 18: 4388. https://doi.org/10.3390/rs15184388

APA Style

Zheng, D., Wei, L., Lv, W., Liu, Y., & Wang, Y. (2023). Rover Attitude and Camera Parameter: Rock Measurements on Mars Surface Based on Rover Attitude and Camera Parameter for Tianwen-1 Mission. Remote Sensing, 15(18), 4388. https://doi.org/10.3390/rs15184388

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