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Logo: Institute of Photogrammetry and GeoInformation
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Logo: Institute of Photogrammetry and GeoInformation
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Hierarchical bundle adjustment of HRSC data: regional blocks, global spherical block and control network (TODO: UPDATE ENGLISH TITLE)

Researcher:J. Bostelmann
Duration:Since 1.02.2009

The High Resolution Stereo Camera (HRSC) on Mars Express was developed for mapping the Martian surface. The photogrammetric processing of the HRSC images requires information about position and attitude of the camera at the time of imaging. This data, known as exterior orientation, is crucial for the quality of the results of the HRSC experiment.

In this project a method for global bundle adjustment is developed. The goal is to systematically reconstruct the exterior orientation with high precision and accuracy. The proposed hierarchical approach divides the adjustment into three steps: first the strip-like HRSC images are adjusted individually, subsequent in regional blocks, and finally in a global block.

In order to process regional HRSC blocks systematically and archive a very high accuracy, the following developments were necessary: 

  • Further improvement of the strategy for the automatic tie point matching
  • Development of a tie point filter based on object coordinates
  • Adaptions of the concepts and software for bundle adjustment to be able to process larger data sets
  • Improvements of the modelling of HRSC orientation data
  • Reprocessing of the global HRSC data set
  • Recalibration of the interior orientation of the camera

Grafik 1

Figure: Mapped Martian surface (1330 x 1780 km) HRSC color image mosaic (resolution: 50m pro Pixel), color-coded height information (50m resolution), panchromatic image mosaic (12,5m resolution). (from Gwinner, et al., 2015, © ESA/DLR/FU Berlin) 

The methods are evaluated with the MC-11-E Block by extensive experiments. The adapted bundle adjustment strategy was already used for more regional blocks successfully. It is planned to cover the entire surface of Mars with HRSC blocks. The improved orientation is provided to the HRSC team and used for the processing of large mosaics. 

Grafik 1
Figure: Intersection error of neighboring strips before and after bundle adjustment

Publications

Bostelmann, J.; Heipke, C. (2011): Modeling spacecraft oscillations in HRSC images of Mars Express. In: IntArchPhRS vol. XXXVIII-4/W19, Hannover, 2011, 6 S., CD | file |

Bostelmann, J.; Schmidt, R.; Heipke, C. (2012): Systematic Bundle Adjustment of HRSC Image Data. In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XXXIX-B4, S. 301-306, 2012 | file |

Bostelmann, J.; Heipke, C. (2014): Analyzing a Block of HRSC Image Strips for a Simultaneous Bundle Adjustment. In: ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. II-4, 2014, pp. 15-20 | file |

Gwinner, K.; Jaumann, R.; Bostelmann, J.; Dumke, A.; Elgner, S.; Heipke, C.; Kersten, E.; Michael, G.; Preusker, F.; Roatsch, T.; Schmidt, R.; Scholten, F.; Spiegel, M.; van, Gasselt, S.; Walter, S. and the HRSC Global Topography and Mosaic Generation Task Group (2015): The first Quadrangle of the Mars Express HRSC Multi-Orbit Data Products (MC-11E). European Planetary Science Congress, EPSC Abstracts, Vol. 10 | file |

Bostelmann, J.; Heipke, C. (2016): Global Bundle Adjustment with Variable Orientation Point Distance for Precise Mars Express Orbit Reconstruction. In: Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLI-B4, pp. 361-368 | file |

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