AbstractThis paper presents the photogrammetric foundations upon which the Community Sensor Model specification depends, describes common coordinate system and reference frame transformations that support conversion between image sensor (charge‐coupled device) coordinates to some arbitrary body coordinate, and describes the U.S. Geological Survey Astrogeology Community Sensor Model implementation (https://github.com/USGS-Astrogeology/usgscsm). We present a new image support data specification that provides the position, pointing, timing, and metadata information necessary to properly locate a pixel or observations location on a body and describe a system architecture designed to explicitly identify the responsibilities of software components within a larger pipeline or analytical environment. This paper concludes with a set of experiments that illustrate positional and pointing error in the sensor location and the impact on the computed surface location.

Introduction: After a planetary mission’s lifetime, digital data such as raster images, data cubes, terrainmodel data and photomosaics, as well as the respective pieces of metainformation are stored in digital archives or repositories and are potentially compiled into higher-level data products and maps to form a basis for continued research and for new scientific and engineering studies. For the planetary sciences, the main archives are ESA's Planetary Science Archive (PSA) and the Planetary Data System (PSA) Nodes in the USA [1,2]. In addition, a number of national space science institutes and agencies across the globe may provide access to archived mission data for a period of time as long-term archiving and making data accessible to the public requires dedicated long-term resources.

Planetary Cartography does not only provides the basis to support planning (e.g., landing-site selection, orbital observations, traverse planning) and to facilitate mission conduct during the lifetime of a mission (e.g., observation tracking and hazard avoidance). It also provides the means to create science products after successful termination of a planetary mission by distilling data into maps. After a mission’s lifetime, data and higher level products like mosaics and digital terrain models (DTMs) are stored in archives – and eventually into maps and higher-level data products – to form a basis for research and for new scientific and engineering studies. The complexity of such tasks increases with every new dataset that has been put on this stack of information, and in the same way as the complexity of autonomous probes increases, also tools that support these challenges require new levels of sophistication. In planetary science, cartography and mapping have a history dating back to the roots of telescopic space exploration and are now facing new technological and organizational challenges with the rise of new missions, new global initiatives, organizations and opening research markets. The focus of this contribution is to summarize recent activities in Planetary Cartography, highlighting current issues the community is facing to derive the future opportunities in this field. By this we would like to invite cartographers/researchers to join this community and to start thinking about how we can jointly solve some of these challenges.

The selection of the Discovery Program InSight landing site took over four years from initial identification of possible areas that met engineering constraints, to downselection via targeted data from orbiters (especially Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) and High-Resolution Imaging Science Experiment (HiRISE) images), to selection and certification via sophisticated entry, descent and landing (EDL) simulations. Constraints on elevation (\({\leq}{-}2.5\ \mbox{km}\) for sufficient atmosphere to slow the lander), latitude (initially 15°S–5°N and later 3°N–5°N for solar power and thermal management of the spacecraft), ellipse size (130 km by 27 km from ballistic entry and descent), and a load bearing surface without thick deposits of dust, severely limited acceptable areas to western Elysium Planitia. Within this area, 16 prospective ellipses were identified, which lie ∼600 km north of the Mars Science Laboratory (MSL) rover. Mapping of terrains in rapidly acquired CTX images identified especially benign smooth terrain and led to the downselection to four northern ellipses. Acquisition of nearly continuous HiRISE, additional Thermal Emission Imaging System (THEMIS), and High Resolution Stereo Camera (HRSC) images, along with radar data confirmed that ellipse E9 met all landing site constraints: with slopes <15° at 84 m and 2 m length scales for radar tracking and touchdown stability, low rock abundance (<10 %) to avoid impact and spacecraft tip over, instrument deployment constraints, which included identical slope and rock abundance constraints, a radar reflective and load bearing surface, and a fragmented regolith ∼5 m thick for full penetration of the heat flow probe. Unlike other Mars landers, science objectives did not directly influence landing site selection.

The High Resolution Stereo Camera (HRSC) on the Mars Express orbiter (Neukum et al. 2004) is a multi-line pushbroom scanner that can obtain stereo and color coverage of targets in a single overpass, with pixel scales as small as 10 m at periapsis. Since commencing operations in 2004 it has imaged ~ 77 % of Mars at 20 m/pixel or better. The instrument team uses the Video Image Communication And Retrieval (VICAR) software to produce and archive a range of data products from uncalibrated and radiometrically calibrated images to controlled digital topographic models (DTMs) and orthoimages and regional mosaics of DTM and orthophoto data (Gwinner et al. 2009; 2010b; 2016). Alternatives to this highly effective standard processing pipeline are nevertheless of interest to researchers who do not have access to the full VICAR suite and may wish to make topographic products or perform other (e. g., spectrophotometric) analyses prior to the release of the highest level products. We have therefore developed software to ingest HRSC images and model their geometry in the USGS Integrated Software for Imagers and Spectrometers (ISIS3), which can be used for data preparation, geodetic control, and analysis, and the commercial photogrammetric software SOCET SET (® BAE Systems; Miller and Walker 1993; 1995) which can be used for independent production of DTMs and orthoimages. The initial implementation of this capability utilized the then-current ISIS2 system and the generic pushbroom sensor model of SOCET SET, and was described in the DTM comparison of independent photogrammetric processing by different elements of the HRSC team (Heipke et al. 2007). A major drawback of this prototype was that neither software system then allowed for pushbroom images in which the exposure time changes from line to line. Except at periapsis, HRSC makes such timing changes every few hundred lines to accommodate changes of altitude and velocity in its elliptical orbit. As a result, it was necessary to split observations into blocks of constant exposure time, greatly increasing the effort needed to control the images and collect DTMs. Here, we describe a substantially improved HRSC processing capability that incorporates sensor models with varying line timing in the current ISIS3 system (Sides 2017) and SOCET SET. This enormously reduces the work effort for processing most images and eliminates the artifacts that arose from segmenting them. In addition, the software takes advantage of the continuously evolving capabilities of ISIS3 and the improved image matching module NGATE (Next Generation Automatic Terrain Extraction, incorporating area and feature based algorithms, multi-image and multi-direction matching) of SOCET SET, thus greatly reducing the need for manual editing of DTM errors. We have also developed a procedure for geodetically controlling the images to Mars Orbiter Laser Altimeter (MOLA) data by registering a preliminary stereo topographic model to MOLA by using the point cloud alignment (pc_align) function of the NASA Ames Stereo Pipeline (ASP; Moratto et al. 2010). This effectively converts inter-image tiepoints into ground control points in the MOLA coordinate system. The result is improved absolute accuracy and a significant reduction in work effort relative to manual measurement of ground control. The ISIS and ASP software used are freely available; SOCET SET, is a commercial product. By the end of 2017 we expect to have ported our SOCET SET HRSC sensor model to the Community Sensor Model (CSM; Community Sensor Model Working Group 2010; Hare and Kirk 2017) standard utilized by the successor photogrammetric system SOCET GXP that is currently offered by BAE. In early 2018, we are also working with BAE to release the CSM source code under a BSD or MIT open source license. We illustrate current HRSC processing capabilities with three examples, of which the first two come from the DTM comparison of 2007. Candor Chasma (h1235_0001) was a near-periapse observation with constant exposure time that could be processed relatively easily at that time. We show qualitative and quantitative improvements in DTM resolution and precision as well as greatly reduced need for manual editing, and illustrate some of the photometric applications possible in ISIS. At the Nanedi Valles site we are now able to process all 3 long-arc orbits (h0894_0000, h0905_0000 and h0927_0000) without segmenting the images. Finally, processing image set h4235_0001, which covers the landing site of the Mars Science Laboratory (MSL) rover and its rugged science target of Aeolus Mons in Gale crater, provides a rare opportunity to evaluate DTM resolution and precision because extensive High Resolution Imaging Science Experiment (HiRISE) DTMs are available (Golombek et al. 2012). The HiRISE products have ~ 50x smaller pixel scale so that discrepancies can mostly be attributed to HRSC. We use the HiRISE DTMs to compare the resolution and precision of our HRSC DTMs with the (evolving) standard products. We find that the vertical precision of HRSC DTMs is comparable to the pixel scale but the horizontal resolution may be 15–30 image pixels, depending on processing. This is significantly coarser than the lower limit of 3–5 pixels based on the minimum size for image patches to be matched. Stereo DTMs registered to MOLA altimetry by surface fitting typically deviate by 10thinsp;m or less in mean elevation. Estimates of the RMS deviation are strongly influenced by the sparse sampling of the altimetry, but range from

Instrument development for the 24m Giant Magellan Telescope (GMT) is described: current activities, progress, status, and schedule. One instrument team has completed its preliminary design and is currently beginning its final design (GCLEF, an optical 350-950 nm, high-resolution and precision radial velocity echelle spectrograph). A second instrument team is in its conceptual design phase (GMACS, an optical 350-950 nm, medium resolution, 6-10 arcmin field, multi-object spectrograph). A third instrument team is midway through its preliminary design phase (GMTIFS, a near-IR YJHK diffraction-limited imager/integral-field-spectrograph), focused on risk reduction prototyping and design optimization. A fourth instrument team is currently fabricating the 5 silicon immersion gratings needed to begin its preliminary design phase (GMTNIRS, a simultaneous JHKLM high-resolution, AO-fed, echelle spectrograph). And, another instrument team is focusing on technical development and prototyping (MANIFEST, a facility robotic, multifiber feed, with a 20 arcmin field of view). In addition, a medium-field (6 arcmin, 0.06 arcsec/pix) optical imager will support telescope and AO commissioning activities, and will excel at narrow-band imaging. In the spirit of advancing synergies with other groups, the challenges of running an ELT instrument program and opportunities for cross-ELT collaborations are discussed.

This paper describes the Maryland-Magellan Tunable Filter (MMTF) on the Magellan-Baade 6.5 m telescope. MMTF is based on a 150 mm clear aperture Fabry-Perot (FP) etalon that operates in low orders and provides transmission bandpass and central wavelength adjustable from similar to 5 angstrom to similar to 15 angstrom and from similar to 5000 angstrom to over similar to 9200 angstrom, respectively. It is installed in the Inamori Magellan Areal Camera and Spectrograph and delivers an image quality of similar to 0.'' 5 over a field of view of 27' in diameter (monochromatic over similar to 10'). This versatile and easy-to-operate instrument has been used over the past three years for a wide variety of projects. This paper first reviews the basic principles of FP tunable filters, and then provides a detailed description of the hardware and software associated with MMTF and the techniques developed to observe with this instrument and reduce the data. The main lessons learned in the course of the commissioning and implementation of MMTF are highlighted next, before concluding with a brief outlook on the future of MMTF and of similar facilities which are soon coming on line.

G-protein-coupled receptors (GPCR) participate in many disease pathways and represent the largest family of therapeutic targets. Thus, great investments are made to discover drugs modulating GPCR-mediated events. Among functional assays for screening GPCRs, the Transfluor (R) imaging assay is based on redistribution of cytosolic beta-arrestin to an activated GPCR and has become widely used in high-content screening. However, assessing Transfluor (R) alone has limitations: relying on a single mechanistic step of beta-arrestin redistribution during GPCR activation, providing no information on the stimulated GPCR's intracellular fate, and using only a single fluorescent color (green fluorescent protein). Taking full advantage of high-content imaging to screen approximately 2000 compounds, the authors multifplexed the Transfluor (R) assay with an immunofluorescence-based quantification of GPCR internalization. This approach identified and classified 377 compounds interfering with agonist-induced activation of the Transfluor (R) assay, receptor internalization, or both. In addition, a subset of compounds was analyzed for their performance across imaging, cell-based calcium release (fluorometric imaging plate reader [FLIPR]), and biochemical receptor binding assays (scintillation proximity assay). This indicated that the imaging assays have even better predictive power for direct inhibition of receptor binding than the FLIPR assay. In conclusion, compounds inducing unique responses can suggest novel mechanisms of action and be used as tools to study GPCR activation and internalization.

This paper reports on mapping procedures developed by the U.S. Geological Survey that use Viking Orbiter imagery and Mars Orbiter Laser Altimeter (MOLA) derived radii to produce topographic data. The use of Mosaiced Digital Image Models (MDIMs), created from Viking Orbiter images, and MOLA data to provide horizontal and vertical control is reviewed. We describe procedures to adapt a commercial digital photogrammetric workstation to work with planetary data.

The nucleus of the Jupiter-family comet 19P/Borrelly was closely observed by the Miniature Integrated Camera and Spectrometer aboard the Deep Space 1 spacecraft on 22 September 2001. The 8-kilometer-long body is highly variegated on a scale of 200 meters, exhibiting large albedo variations (0.01 to 0.03) and complex geologic relationships. Short-wavelength infrared spectra (1.3 to 2.6 micrometers) show a slope toward the red and a hot, dry surface (≤345 kelvin, with no trace of water ice or hydrated minerals), consistent with ∼10% or less of the surface actively sublimating. Borrelly's coma exhibits two types of dust features: fans and highly collimated jets. At encounter, the near-nucleus coma was dominated by a prominent dust jet that resolved into at least three smaller jets emanating from a broad basin in the middle of the nucleus. Because the major dust jet remained fixed in orientation, it is evidently aligned near the rotation axis of the nucleus.

1849 (CD-ROM); [16] Chandrasekhar, S., 1960, Radiative Transfer , Dover, 216–219; [17] Hapke, B., 1984, Bidirectional Reflectance Spectroscopy: 3. Correction for Macroscopic roughness, Icarus, 59, 41–59; [18] Kirk, R. L., et al., 1999, Digital Photogrammetric Analysis of the IMP Camera Images: Mapping the Pathfinder Landing Site in Three Dimensions , J. Geophys. Res., 104 (E4), 8869–8888. Fifth International Conference on Mars 6218.pdf

This paper describes our photogrammetric analysis of the Imager for Mars Pathfinder data, part of a broader program of mapping the Mars Pathfinder landing site in support of geoscience investigations. This analysis, carried out primarily with a commercial digital photogrammetric system, supported by our in‐house Integrated Software for Imagers and Spectrometers (ISIS), consists of three steps: (1) geometric control: simultaneous solution for refined estimates of camera positions and pointing plus three‐dimensional (3‐D) coordinates of ∼103 features sitewide, based on the measured image coordinates of those features; (2) topographic modeling: identification of ∼3×105 closely spaced points in the images and calculation (based on camera parameters from step 1) of their 3‐D coordinates, yielding digital terrain models (DTMs); and (3) geometric manipulation of the data: combination of the DTMs from different stereo pairs into a sitewide model, and reprojection of image data to remove parallax between the different spectral filters in the two cameras and to provide an undistorted planimetric view of the site. These processes are described in detail and example products are shown. Plans for combining the photogrammetrically derived topographic data with spectrophotometry are also described. These include photometric modeling using surface orientations from the DTM to study surface microtextures and improve the accuracy of spectral measurements, and photoclinometry to refine the DTM to single‐pixel resolution where photometric properties are sufficiently uniform. Finally, the inclusion of rover images in a joint photogrammetric analysis with IMP images is described. This challenging task will provide coverage of areas hidden to the IMP, but accurate ranging of distant features can be achieved only if the lander is also visible in the rover image used.

The Imager for Mars Pathfinder (IMP) acquired more than 16,000 images and provided panoramic views of the surface of Mars at the Mars Pathfinder landing site in Ares Vallis. This paper describes the stereoscopic, multispectral IMP imaging sequences and focuses on their use for digital mapping of the landing site and for deriving cartographic products to support science applications of these data. Two‐dimensional cartographic processing of IMP data, as performed via techniques and specialized software developed for ISIS (the U.S. Geological Survey image processing software package), is emphasized. Cartographic processing of IMP data includes ingestion, radiometric correction, establishment of geometric control, coregistration of multiple bands, reprojection, and mosaicking. Photogrammetric processing, an integral part of this cartographic work which utilizes the three‐dimensional character of the IMP data, supplements standard processing with geometric control and topographic information [Kirk et al., this issue]. Both cartographic and photogrammetric processing are required for producing seamless image mosaics and for coregistering the multispectral IMP data. Final, controlled IMP cartographic products include spectral cubes, panoramic (360° azimuthal coverage) and planimetric (top view) maps, and topographic data, to be archived on four CD‐ROM volumes. Uncontrolled and semicontrolled versions of these products were used to support geologic characterization of the landing site during the nominal and extended missions. Controlled products have allowed determination of the topography of the landing site and environs out to ∼60 m, and these data have been used to unravel the history of large‐ and small‐scale geologic processes which shaped the observed landing site. We conclude by summarizing several lessons learned from cartographic processing of IMP data.