1. Zoë Science Cameras Life in the Atacama 2005 Science and Technology Workshop

2. Zoë Cameras: FOV
SPI FI
Workspace
Cams

3. Field of View
81.1 deg HFOV
1024 pixel resolution
1.4 mm / pixel at 1 m distance
Cameras are focused but with a wide FOV, so the area per pixel is large
October 4, :38:02 GMT (U041004_2138)

4. Left camera – Aperture opened to see dark areas
Workspace Cameras
Left camera – Aperture opened to see dark areas
October 4, :51:39 GMT (U041004_1751)

5. Right camera – Aperture closed to see bright areas
Workspace Cameras
Right camera – Aperture closed to see bright areas
October 4, :51:39 GMT (U041004_1751)

6. Lighting Effects: Bright Sun
October 9, :49:48 GMT (Z041009_1649)
Bright noon sky (12:49 pm local time)
Auto-exposure cannot compensate lighting levels in all regions of both images

7. Lighting Effects: Clouds
October 7, :17:05 GMT (Z041007_1617)
Overcast morning sky (11:17 am local time)
Auto-exposure evened out brightness in both images

8. Lighting Effects: Shadows
October 4, :38:02 GMT (U041004_2138)
Clear afternoon sky (4:38 pm local time)
Auto-exposure evened out brightness in both images

9. Rover advances, plows in reverse, FI moves left
Plowing
October 4, :24:38 GMT
U041004_1724
Rover advances, plows in reverse, FI moves left
October 4, :51:39 GMT
U041004_1751

10. Realistic color, consistent exposure
Site B, Sol 5, Locale 19
SPI
Realistic color, consistent exposure
Site C, Sol 13, Locale 41
Color calibration missing from many panoramas, targets should be moved to the back of the spine

11. Site B, Sol 7, Locale 24 Runout
SPI
Wheels are visible at maximum tilt, but stitching is difficult
Site B, Sol 7, Locale 24 Runout
Unexpected weather is apparent

12. VNIR and SPI % Offset from Image Center Offset at 3.5 m is this big
height
~3.5 m
Distance of Object [m]

13. Workspace images SPI images
Data Product Sizes
Workspace images
Each image is 450 to 700 kB (JPEG)
SPI images
Full resolution (1280x960) images are from 50 to 700 kB (JPEG)
Low resolution (320x240) images can be as small as 15 kB (JPEG)
Compare data volume of a SPI panorama to that of periodic images every 100 m

14. Huge File Size 1 image @ 100 = 4 images @ 80 = 10 images @ 20
Compression
Huge File Size
(Though still an order
of magnitude smaller
than the raw data.)
1 image @ 100
= 4 80
= 10 20
Unacceptable
Image Quality
Good Tradeoff
(Many programs use
75 or 80 as defaults.)
Thanks for the slide, Dom

15. Suggested Enhancements
Workspace cameras
Higher resolution cameras?
Better exposure control?
Make sure depth of focus is acceptable
SPI cameras
Work on visualization tools
Improve placement of color targets
Make sure white target is in panorama
Increase 3D data from large and small baseline cameras?
Improve reliability – allow simultaneous PTU and FI