Beagle 2 DEM

Function

Coordination of 3D Vision

Contact Information

Gerhard Paar

Description

 The project aim was to generate a precise data set (= mapping of the immediate vicinity of the lander from stereo images) immediately after touchdown of the Beagle 2 Lander (Boxing day, 2003). These data were then to be used for detecting, measuring and classifying interesting objects and for pinpoint navigation of the robot arm and its sensors (microscope, spectrometer, etc.) based on precise object coordinates. Further requirements for 3D image processing were the generation of image mosaics in all given spectral bands, the distortion correction of panoramic mirror images immediately after landing, as well as a  possible re-calibration of the system in case of geometric changes of the robot arm. 

The system combined existing know-how at JR in the field of image-based navigation (various ESA studies since 1990), stereo reconstruction (industry projects such as the DIBIT tunnel scanner), and camera calibration to provide the digital elevation model (DEM) immediately after landing, taking into account environmental influences and system parameter changes such as the geometry of the robot arm. 

In addition to the 3D imaging software components (DEM generation, mosaiking, mechanisms for on-line calibration) both cameras were calibrated geometrically (incl. influences of the used filters, temperature and pressure), camera-to-robot arm calibration was performed and some tools for navigation by means of star images were implemented.

The functionality of the entire system was successfully tested during the pre-launch tests, but Beagle 2 was lost during the approach to the Red Planet. Nevertheless, the tools for 3D image data processing are further available for remote sensing and industrial applications:

• DEM generation from a set of stereo images

• Image mosaiking

• Calibration Camera-to-robot arm

• Procedures for geometric camera calibration in dependence on physical influences (temperature, pressure)

Project Duration

 1999 - 2003

Main Partners

• Mullard Space Science Laboratory (MSSL)      www.mssl.ucl.ac.uk

• University of Wales, Aberystwyth     www.aber.ac.uk

Funding

• Joanneum Research
• Austrian Federal Ministry for Transport, Innovation and Technology               

Figure 1: Calibration of the Beagle 2 Cameras

Figure 2: Testing of Robot Arm, Cameras and PAW at Leicester Space Center

Figure 3: Rendering of stereo-derived DEM during testing

Videos

•  Animation of Beagle2 Lander   Beagle2.avi
• Digital Elevation Modell   DEM.avi

Poster

• The Beagle 2 Camera Heritage from Pasteur Poster.pdf

Interviews

•    Radio Vienna Interview (German) June 2, 2003

References

Griffiths, A, Coates, A, Josset, J, Paar, G, Hofmann, B, Pullan, D, Rueffer, P, Sims, M, and Pillinger, C (2005).
The Beagle 2 stereo camera system
Planetary and Space ScienceDecember 2005, Vol 53/14-15:1466-1482.

Paar, G, Griffiths, A, Barnes, D, Coates, A, and Bauer, A (2005).
The Beagle 2 Camera Heritage for Pasteur
Geophysical Research Abstracts - European Geosciences Union, 7 - 06815(SRef-ID: 1607-7962/gra/EGU05-A-06815):7.

Barnes, D, Phillips, N, and Paar, G (2003).
Beagle2 Simulation and Calibration for Ground Segment Operations
In: 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Nara, Japan, May 19-23, 2003.