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NASA NTRSDate not supplied

Caves as Terrestrial Analogs for Mapping and Exploration in Planetary Surface and Subsurface Environments.

The Kinematic Navigation and Cartography Knapsack (KNaCK) team is developing tools that will enable ultra-high resolution terrain mapping and navigation at the lunar surface. KNaCK uses mobile light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM) algorithms to operate in fully GPS-denied and unilluminated environments. Testing in relevant analogs is key to perfecting this technology for planetary applications. After utilizing desert and volcanic environments for multiple tests, the team is now using caves as an additional proving ground. Tests in terrestrial caves have demonstrated the potential of mobile SLAM LiDAR for use in challenging surface environments such as steep walled craters and permanently shadowed regions as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗
NASA NTRSDate not supplied

Mobile LiDAR as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗
NASA NTRS1994

Path planning for planetary rover using extended elevation map

This paper describes a path planning method for planetary rovers to search for paths on planetary surfaces. The planetary rover is required to travel safely over a long distance for many days over unfamiliar terrain. Hence it is very important how planetary rovers process sensory information in order to understand the planetary environment and to make decisions based on that information. As a new data structure for informational mapping, an extended elevation map (EEM) has been introduced, which includes the effect of the size of the rover. The proposed path planning can be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. The validity of the proposed methods is verified by computer simulations.

Nakatani, Ichiro↗
NASA NTRSDate not supplied

Mobile Lidar as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments [1,2]. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

Lunar Skylight↗
NASA NTRSDate not supplied

Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗
NASA NTRS1989

Terrain mapping for a roving planetary explorer

A prototype legged vehicle is being developed for an exploratory mission on another planet, conceivably Mars, where it is to traverse uncharted areas and collect material samples. The rover can construct from range imagery a geometric terrain representation; i.e., elevation map that includes uncertainty, unknown areas, and local features. An algorithm for constructing an elevation map from a single range image is presented: by virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike algorithms that work in Cartesian space. Also presented is a two-stage matching technique (feature matching followed by iconic matching) that identifies the transformation T corresponding to the vehicle displacement between two viewing positions. To support legged locomotion over rough terrain, methods for evaluating regions of the constructed elevation maps as footholds are developed.

Hebert, M.↗
NASA NTRS1989

First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Krotkov, E.↗
NASA NTRS2014

Planetary Rover Localization Within Orbital Maps

This paper introduces an advanced rover localization system suitable for autonomous planetary exploration in the absence of Global Positioning System (GPS) infrastructure. Given an existing terrain map (image and elevation) obtained from satellite imagery and the images provided by the rover stereo camera system, the proposed method determines the best rover location through visual odometry, 3D terrain and hori- zon matching. The system is tested on data retrieved from a 3 km traverse of the Basalt Hills quarry in California where the GPS track is used as ground truth. Experimental results show the system presented here reduces by over 60 the localization error obtained by wheel odometry.

localization↗
NASA NTRS1990

Method for detecting surface motions and mapping small terrestrial or planetary surface deformations with synthetic aperture radar

A technique based on synthetic aperture radar (SAR) interferometry is used to measure very small (1 cm or less) surface deformations with good resolution (10 m) over large areas (50 km). It can be used for accurate measurements of many geophysical phenomena, including swelling and buckling in fault zones, residual, vertical and lateral displacements from seismic events, and prevolcanic swelling. Two SAR images are made of a scene by two spaced antennas and a difference interferogram of the scene is made. After unwrapping phases of pixels of the difference interferogram, surface motion or deformation changes of the surface are observed. A second interferogram of the same scene is made from a different pair of images, at least one of which is made after some elapsed time. The second interferogram is then compared with the first interferogram to detect changes in line of sight position of pixels. By resolving line of sight observations into their vector components in other sets of interferograms along at least one other direction, lateral motions may be recovered in their entirety. Since in general, the SAR images are made from flight tracks that are separated, it is not possible to distinguish surface changes from the parallax caused by topography. However, a third image may be used to remove the topography and leave only the surface changes.

Gabriel, Andrew K.↗
NASA NTRS2005

Pickup Ion Mass Spectrometry for Surface Bounded Exospheres and Composition Mapping of Lunar and Planetary Surfaces

Many of the small to medium sized objects in the solar system can be characterized as having surface bounded exospheres, or atmospheres so tenuous that scale lengths for inter-particle collisions are much larger than the dimensions of the objects. The atmospheres of these objects are the product of their surfaces, both the surface composition and the interactions that occur on them and also their interiors when gases escape from there. Thus by studying surface bounded exospheres it is possible to develop insight into the composition and processes that are taking place on the surface and interiors of these objects. The Moon and Mercury are two examples of planetary bodies with surface bounded exospheres that have been studied through spectroscopic observations of sodium, potassium, and, on the moon, mass spectrometric measurements of lunar gases such as argon and helium.

Keller, J. W.↗
NASA NTRS2010

Abstracts of the Annual Meeting of Planetary Geologic Mappers, Flagstaff, AZ, 2010

Topics covered include: Detailed Analysis of the Intra-Ejecta Dark Plains of Caloris Basin, Mercury; The Formation and Evolution of Tessera and Insights into the Beginning of Recorded History on Venus: Geology of the Fortuna Tessera Quadrangle (V-2); Geologic Map of the Snegurochka Planitia Quadrangle (V-1): Implications for the Volcanic History of the North Polar Region of Venus; Geological Map of the Fredegonade (V-57) Quadrangle, Venus: Status Report; Geologic Mapping of V-19; Geology of the Lachesis Tessera Quadrangle (V-18), Venus; Comparison of Mapping Tessera Terrain in the Phoebe Regio (V-41) and Tellus Tessera (V-10) Quadrangles; Geologic Mapping of the Devana Chasma (V-29) Quadrangle, Venus; Geologic Mapping of the Aristarchus Plateau Region on the Moon; Geologic Mapping of the Lunar South Pole Quadrangle (LQ-30); The Pilot Lunar Geologic Mapping Project: Summary Results and Recommendations from the Copernicus Quadrangle; Geologic Mapping of the Nili Fossae Region of Mars: MTM Quadrangles 20287, 20282, 25287, 25282, 30287, and 30282; Geologic Mapping of the Mawrth Vallis Region, Mars: MTM Quadrangles 25022, 25017, 25012, 20022, 20017, and 20012; Evidence for an Ancient Buried Landscape on the NW Rim of Hellas Basin, Mars; New Geologic Map of the Argyre Region of Mars: Deciphering the Geologic History Through Mars Global Surveyor, Mars Odyssey, and Mars Express Data; Geologic Mapping in the Hesperia Planum Region of Mars; Geologic Mapping of the Meridiani Region of Mars; Geologic Mapping in Southern Margaritifer Terra; Geology of -30247, -35247, and -40247 Quadrangles, Southern Hesperia Planum, Mars; The Interaction of Impact Melt, Impact-Derived Sediment, and Volatiles at Crater Tooting, Mars; Geologic Map of the Olympia Cavi Region of Mars (MTM 85200): A Summary of Tactical Approaches; Geology of the Terra Cimmeria-Utopia Planitia Highland Lowland Transitional Zone: Final Technical Approach and Scientific Results; Geology of Libya Montes and the Interbasin Plains of Northern Tyrrhena Terra, Mars: First Year Results and Second Year Work Plan; Mars Global Geologic Mapping Progress and Suggested Geographic-Based Hierarchal Systems for Unit Grouping and Naming; Progress in the Scandia Region Geologic Map of Mars; Geomorphic Mapping of MTMS -20022 and -20017; Geologic Mapping of the Medusae Fossae Formation, Mars, and the Northern Lowland Plains, Venus; Volcanism on Io: Results from Global Geologic Mapping; Employing Geodatabases for Planetary Mapping Conduct - Requirements, Concepts and Solutions; and Planetary Geologic Mapping Handbook - 2010.

Bleamaster, Leslie F., III↗
NASA NTRS2008

Venus Quadrangle Geological Mapping: Use of Geoscience Data Visualization Systems in Mapping and Training

We are currently investigating new technological developments in computer visualization and analysis in order to assess their importance and utility in planetary geological analysis and mapping [1,2]. Last year we reported on the range of technologies available and on our application of these to various problems in planetary mapping [3]. In this contribution we focus on the application of these techniques and tools to Venus geological mapping at the 1:5M quadrangle scale. In our current Venus mapping projects we have utilized and tested the various platforms to understand their capabilities and assess their usefulness in defining units, establishing stratigraphic relationships, mapping structures, reaching consensus on interpretations and producing map products. We are specifically assessing how computer visualization display qualities (e.g., level of immersion, stereoscopic vs. monoscopic viewing, field of view, large vs. small display size, etc.) influence performance on scientific analysis and geological mapping. We have been exploring four different environments: 1) conventional desktops (DT), 2) semi-immersive Fishtank VR (FT) (i.e., a conventional desktop with head-tracked stereo and 6DOF input), 3) tiled wall displays (TW), and 4) fully immersive virtual reality (IVR) (e.g., "Cave Automatic Virtual Environment," or Cave system). Formal studies demonstrate that fully immersive Cave environments are superior to desktop systems for many tasks [e.g., 4].

Head, James W.↗
NASA NTRS2014

Mapping alpha-Particle X-Ray Fluorescence Spectrometer (Map-X)

Many planetary surface processes (like physical and chemical weathering, water activity, diagenesis, low-temperature or impact metamorphism, and biogenic activity) leave traces of their actions as features in the size range 10s to 100s of micron. The Mapping alpha-particle X-ray Spectrometer ("Map-X") is intended to provide chemical imaging at 2 orders of magnitude higher spatial resolution than previously flown instruments, yielding elemental chemistry at or below the scale length where many relict physical, chemical, and biological features can be imaged and interpreted in ancient rocks.

CCD Camera↗
NASA NTRS1991

Preliminary geologic mapping of central Chryse Planitia, Mars

Because of the success of the Viking lander mission, central Chryse Planitia represents one of two areas on the Martian surface where planetary geologic mapping is added by ground-truth observations. The broadscale geology of Chryse Planitia and the geology of the Viking 1 landing site have been previously examined by other investigators. A 1:500,000 scale mapping of central Chryse Planitia and the Viking landing site was undertaken to synthesize these results and to address the following: (1) the depositional and erosional history of the Chryse Planitia basin; (2) the degree to which the Viking 1 surface materials are representative of the Chryse Planitia regions and of plains in general; (3) the extent of channel materials versus ridged plains materials; and (4) the primary objectives of future missions to the surface of Mars. The preliminary results of the investigation are presented.

Craddock, Robert A.↗
NASA NTRS2010

Geologic Mapping of V-19

A geologic map of the Sedna Planitia (V-19) quadrangle is being completed at 1:5,000,000 scale as part of the NASA Planetary Geologic Mapping Program, and will be submitted for review by September 2010. Overview: The Sedna Planitia quadrangle (V-19) extends from 25 N - 50 N latitude, 330 - 0 longitude. The quadrangle contains the northernmost portion of western Eistla Regio and the Sedna Planitia lowlands. Sedna Planitia consists of low-lying plains units, with numerous small volcanic edifices including shields, domes and cones. The quadrangle also contains several tholi, the large flowfield Neago Fluctus, the Manzan-Gurme Tesserae, and Zorile Dorsa and Karra-mahte Fossae which run NW-SE through the southwestern part of the quadrangle. There are six coronae in the quadrangle (Table 1), the largest of which is Nissaba (300 km x 220 km), and there are fourteen impact craters (Table 2). The V-19 quadrangle contains a variety of mappable volcanic landforms including two shield volcanoes (Evaki Tholus and Toci Tholus) and the southern portion of a large flow field (Neago Fluctus). A total of sixteen units associated with volcanoes have been mapped in this quadrangle, with multiple units mapped at Sif Mons, Sachs Patera and Neago Fluctus. An oddly textured, radarbright flow is also mapped in the Sedna plains, which appears to have originated from a several hundred kilometer long fissure. The six coronae within V-19 have a total of eighteen associated flow units. Several edifice fields are also mapped, in which the small volcanic edifices both predate and postdate the other units. Impact crater materials are also mapped.

Martin, Paula↗
NASA NTRS2009

Geologic Mapping of V-19

A geologic map of the Sedna Planitia (V-19) quadrangle is being completed at the 1:5,000,000 scale as part of the NASA Planetary Geologic Mapping Program, and will be submitted for review by September 2009.

Martin, P.↗
NASA NTRS2008

Geologic Mapping of V-19, V-28, and V-53

The Sedna Planitia Quadrangle (V-19) extend from 25 deg N - 50 deg N latitude, 330 deg - 0 deg longitude. The quadrangle contains the northern-most portion of western Eistla Regio and the Sedna Planitia lowlands. Geologic maps of Sedna Planitia (V-199), Hecate Chasma (V-28) quadrangles have been completed at the 1:5,000,000 scale as part of the NASA Planetary Geologic Mapping Program. All quadrangles (V-53, V-28 and V-19) have been reviewed at lease once and will be resubmitted. In V-28 and V-53, more plains materials units have been mapped than in previously mapped quadrangles V-46 and V-39. V-19 is more comparable to these latter maps in terms of numbers of plains units. In V-28, all of the plains materials units to the south of the rift have an unusually high concentration of volcanic edifices, which both predate and postdate the units. A similar situation is seen in V-53 and V-19, where small edifice formation is not confined to any specific time period. In the two chasma-related quadrangles, coronae are located along the rift, as well as to the north and the south of the rifts. Coronae in both quadrangles exhibit all forms of corona topographic shapes, including depressions, rimmed depressions, plateaus and domes. In V-28 and V-53, some coronae along the rift do not have much associated volcanism; coronae with the most volcanism in these quadrangles are located at least 500 km off the rifts or on the Themis Regio highland. All three quadrangles have very horizontal stratigraphic columns, as limited contact between units prevents clear age determinations. While this results in the appearance that all units formed at the same time, the use of hachured columns for each unit illustrates the limited nature of our stratigraphic knowledge in these quadrangles, allowing for numerous possible geologic histories. The scale of resurfacing in these quadrangles is on the scale of 100s of kilometers, consistent with the fact that they lie in the most volcanic region of Venus.

Stofan, E. R.↗