The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation

J. F. Bell; J. N. Maki; G. L. Mehall; M. A. Ravine; M. A. Caplinger; Z. J. Bailey; S. Brylow; J. A. Schaffner; K. M. Kinch; M. B. Madsen; A. Winhold; A. G. Hayes; P. Corlies; C. Tate; M. Barrington; E. Cisneros; E. Jensen; K. Paris; K. Crawford; C. Rojas; L. Mehall; J. Joseph; J. B. Proton; N. Cluff; R. G. Deen; B. Betts; E. Cloutis; A. J. Coates; A. Colaprete; K. S. Edgett; B. L. Ehlmann; S. Fagents; J. P. Grotzinger; C. Hardgrove; K. E. Herkenhoff; B. Horgan; R. Jaumann; J. R. Johnson; M. Lemmon; G. Paar; M. Caballo-Perucha; S. Gupta; C. Traxler; F. Preusker; M. S. Rice; M. S. Robinson; N. Schmitz; R. Sullivan; M. J. Wolff

doi:10.1007/s11214-020-00755-x

The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation

J. F. Bell^*, J. N. Maki, G. L. Mehall, M. A. Ravine, M. A. Caplinger, Z. J. Bailey, S. Brylow, J. A. Schaffner, K. M. Kinch, M. B. Madsen, A. Winhold, A. G. Hayes, P. Corlies, C. Tate, M. Barrington, E. Cisneros, E. Jensen, K. Paris, K. Crawford, C. RojasL. Mehall, J. Joseph, J. B. Proton, N. Cluff, R. G. Deen, B. Betts, E. Cloutis, A. J. Coates, A. Colaprete, K. S. Edgett, B. L. Ehlmann, S. Fagents, J. P. Grotzinger, C. Hardgrove, K. E. Herkenhoff, B. Horgan, R. Jaumann, J. R. Johnson, M. Lemmon, G. Paar, M. Caballo-Perucha, S. Gupta, C. Traxler, F. Preusker, M. S. Rice, M. S. Robinson, N. Schmitz, R. Sullivan, M. J. Wolff

^*Corresponding author for this work

Astrophysics and Planetary Science

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Abstract

Mastcam-Z is a multispectral, stereoscopic imaging investigation on the Mars 2020 mission’s Perseverance rover. Mastcam-Z consists of a pair of focusable, 4:1 zoomable cameras that provide broadband red/green/blue and narrowband 400-1000 nm color imaging with fields of view from 25.6° × 19.2° (26 mm focal length at 283 μrad/pixel) to 6.2° × 4.6° (110 mm focal length at 67.4 μrad/pixel). The cameras can resolve (≥ 5 pixels) ∼0.7 mm features at 2 m and ∼3.3 cm features at 100 m distance. Mastcam-Z shares significant heritage with the Mastcam instruments on the Mars Science Laboratory Curiosity rover. Each Mastcam-Z camera consists of zoom, focus, and filter wheel mechanisms and a 1648 × 1214 pixel charge-coupled device detector and electronics. The two Mastcam-Z cameras are mounted with a 24.4 cm stereo baseline and 2.3° total toe-in on a camera plate ∼2 m above the surface on the rover’s Remote Sensing Mast, which provides azimuth and elevation actuation. A separate digital electronics assembly inside the rover provides power, data processing and storage, and the interface to the rover computer. Primary and secondary Mastcam-Z calibration targets mounted on the rover top deck enable tactical reflectance calibration. Mastcam-Z multispectral, stereo, and panoramic images will be used to provide detailed morphology, topography, and geologic context along the rover’s traverse; constrain mineralogic, photometric, and physical properties of surface materials; monitor and characterize atmospheric and astronomical phenomena; and document the rover’s sample extraction and caching locations. Mastcam-Z images will also provide key engineering information to support sample selection and other rover driving and tool/instrument operations decisions.

Original language	English
Article number	24
Journal	Space Science Reviews
Volume	217
Issue number	1
Number of pages	40
ISSN	0038-6308
DOIs	https://doi.org/10.1007/s11214-020-00755-x
Publication status	Published - 2021

Bibliographical note

Publisher Copyright:
© 2020, The Author(s).

Keywords

Jezero crater
Mars
Mars 2020 mission
Perseverance rover
Space imaging
Space instrumentation

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Bell, J. F., Maki, J. N., Mehall, G. L., Ravine, M. A., Caplinger, M. A., Bailey, Z. J., Brylow, S., Schaffner, J. A., Kinch, K. M., Madsen, M. B., Winhold, A., Hayes, A. G., Corlies, P., Tate, C., Barrington, M., Cisneros, E., Jensen, E., Paris, K., Crawford, K., ... Wolff, M. J. (2021). The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation. Space Science Reviews, 217(1), [24]. https://doi.org/10.1007/s11214-020-00755-x

The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation. / Bell, J. F.; Maki, J. N.; Mehall, G. L.; Ravine, M. A.; Caplinger, M. A.; Bailey, Z. J.; Brylow, S.; Schaffner, J. A.; Kinch, K. M.; Madsen, M. B.; Winhold, A.; Hayes, A. G.; Corlies, P.; Tate, C.; Barrington, M.; Cisneros, E.; Jensen, E.; Paris, K.; Crawford, K.; Rojas, C.; Mehall, L.; Joseph, J.; Proton, J. B.; Cluff, N.; Deen, R. G.; Betts, B.; Cloutis, E.; Coates, A. J.; Colaprete, A.; Edgett, K. S.; Ehlmann, B. L.; Fagents, S.; Grotzinger, J. P.; Hardgrove, C.; Herkenhoff, K. E.; Horgan, B.; Jaumann, R.; Johnson, J. R.; Lemmon, M.; Paar, G.; Caballo-Perucha, M.; Gupta, S.; Traxler, C.; Preusker, F.; Rice, M. S.; Robinson, M. S.; Schmitz, N.; Sullivan, R.; Wolff, M. J.

In: Space Science Reviews, Vol. 217, No. 1, 24, 2021.

Research output: Contribution to journal › Review › Research › peer-review

Bell, JF, Maki, JN, Mehall, GL, Ravine, MA, Caplinger, MA, Bailey, ZJ, Brylow, S, Schaffner, JA, Kinch, KM , Madsen, MB, Winhold, A, Hayes, AG, Corlies, P, Tate, C, Barrington, M, Cisneros, E, Jensen, E, Paris, K, Crawford, K, Rojas, C, Mehall, L, Joseph, J, Proton, JB, Cluff, N, Deen, RG, Betts, B, Cloutis, E, Coates, AJ, Colaprete, A, Edgett, KS, Ehlmann, BL, Fagents, S, Grotzinger, JP, Hardgrove, C, Herkenhoff, KE, Horgan, B, Jaumann, R, Johnson, JR, Lemmon, M, Paar, G, Caballo-Perucha, M, Gupta, S, Traxler, C, Preusker, F, Rice, MS, Robinson, MS, Schmitz, N, Sullivan, R & Wolff, MJ 2021, 'The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation', Space Science Reviews, vol. 217, no. 1, 24. https://doi.org/10.1007/s11214-020-00755-x

Bell, J. F. ; Maki, J. N. ; Mehall, G. L. ; Ravine, M. A. ; Caplinger, M. A. ; Bailey, Z. J. ; Brylow, S. ; Schaffner, J. A. ; Kinch, K. M. ; Madsen, M. B. ; Winhold, A. ; Hayes, A. G. ; Corlies, P. ; Tate, C. ; Barrington, M. ; Cisneros, E. ; Jensen, E. ; Paris, K. ; Crawford, K. ; Rojas, C. ; Mehall, L. ; Joseph, J. ; Proton, J. B. ; Cluff, N. ; Deen, R. G. ; Betts, B. ; Cloutis, E. ; Coates, A. J. ; Colaprete, A. ; Edgett, K. S. ; Ehlmann, B. L. ; Fagents, S. ; Grotzinger, J. P. ; Hardgrove, C. ; Herkenhoff, K. E. ; Horgan, B. ; Jaumann, R. ; Johnson, J. R. ; Lemmon, M. ; Paar, G. ; Caballo-Perucha, M. ; Gupta, S. ; Traxler, C. ; Preusker, F. ; Rice, M. S. ; Robinson, M. S. ; Schmitz, N. ; Sullivan, R. ; Wolff, M. J. / The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation. In: Space Science Reviews. 2021 ; Vol. 217, No. 1.

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title = "The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation",

abstract = "Mastcam-Z is a multispectral, stereoscopic imaging investigation on the Mars 2020 mission{\textquoteright}s Perseverance rover. Mastcam-Z consists of a pair of focusable, 4:1 zoomable cameras that provide broadband red/green/blue and narrowband 400-1000 nm color imaging with fields of view from 25.6° × 19.2° (26 mm focal length at 283 μrad/pixel) to 6.2° × 4.6° (110 mm focal length at 67.4 μrad/pixel). The cameras can resolve (≥ 5 pixels) ∼0.7 mm features at 2 m and ∼3.3 cm features at 100 m distance. Mastcam-Z shares significant heritage with the Mastcam instruments on the Mars Science Laboratory Curiosity rover. Each Mastcam-Z camera consists of zoom, focus, and filter wheel mechanisms and a 1648 × 1214 pixel charge-coupled device detector and electronics. The two Mastcam-Z cameras are mounted with a 24.4 cm stereo baseline and 2.3° total toe-in on a camera plate ∼2 m above the surface on the rover{\textquoteright}s Remote Sensing Mast, which provides azimuth and elevation actuation. A separate digital electronics assembly inside the rover provides power, data processing and storage, and the interface to the rover computer. Primary and secondary Mastcam-Z calibration targets mounted on the rover top deck enable tactical reflectance calibration. Mastcam-Z multispectral, stereo, and panoramic images will be used to provide detailed morphology, topography, and geologic context along the rover{\textquoteright}s traverse; constrain mineralogic, photometric, and physical properties of surface materials; monitor and characterize atmospheric and astronomical phenomena; and document the rover{\textquoteright}s sample extraction and caching locations. Mastcam-Z images will also provide key engineering information to support sample selection and other rover driving and tool/instrument operations decisions.",

keywords = "Jezero crater, Mars, Mars 2020 mission, Perseverance rover, Space imaging, Space instrumentation",

author = "Bell, {J. F.} and Maki, {J. N.} and Mehall, {G. L.} and Ravine, {M. A.} and Caplinger, {M. A.} and Bailey, {Z. J.} and S. Brylow and Schaffner, {J. A.} and Kinch, {K. M.} and Madsen, {M. B.} and A. Winhold and Hayes, {A. G.} and P. Corlies and C. Tate and M. Barrington and E. Cisneros and E. Jensen and K. Paris and K. Crawford and C. Rojas and L. Mehall and J. Joseph and Proton, {J. B.} and N. Cluff and Deen, {R. G.} and B. Betts and E. Cloutis and Coates, {A. J.} and A. Colaprete and Edgett, {K. S.} and Ehlmann, {B. L.} and S. Fagents and Grotzinger, {J. P.} and C. Hardgrove and Herkenhoff, {K. E.} and B. Horgan and R. Jaumann and Johnson, {J. R.} and M. Lemmon and G. Paar and M. Caballo-Perucha and S. Gupta and C. Traxler and F. Preusker and Rice, {M. S.} and Robinson, {M. S.} and N. Schmitz and R. Sullivan and Wolff, {M. J.}",

note = "Publisher Copyright: {\textcopyright} 2020, The Author(s).",

year = "2021",

doi = "10.1007/s11214-020-00755-x",

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volume = "217",

journal = "Space Science Reviews",

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AU - Bell, J. F.

AU - Maki, J. N.

AU - Mehall, G. L.

AU - Ravine, M. A.

AU - Caplinger, M. A.

AU - Bailey, Z. J.

AU - Brylow, S.

AU - Schaffner, J. A.

AU - Kinch, K. M.

AU - Madsen, M. B.

AU - Winhold, A.

AU - Hayes, A. G.

AU - Corlies, P.

AU - Tate, C.

AU - Barrington, M.

AU - Cisneros, E.

AU - Jensen, E.

AU - Paris, K.

AU - Crawford, K.

AU - Rojas, C.

AU - Mehall, L.

AU - Joseph, J.

AU - Proton, J. B.

AU - Cluff, N.

AU - Deen, R. G.

AU - Betts, B.

AU - Cloutis, E.

AU - Coates, A. J.

AU - Colaprete, A.

AU - Edgett, K. S.

AU - Ehlmann, B. L.

AU - Fagents, S.

AU - Grotzinger, J. P.

AU - Hardgrove, C.

AU - Herkenhoff, K. E.

AU - Horgan, B.

AU - Jaumann, R.

AU - Johnson, J. R.

AU - Lemmon, M.

AU - Paar, G.

AU - Caballo-Perucha, M.

AU - Gupta, S.

AU - Traxler, C.

AU - Preusker, F.

AU - Rice, M. S.

AU - Robinson, M. S.

AU - Schmitz, N.

AU - Sullivan, R.

AU - Wolff, M. J.

PY - 2021

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N2 - Mastcam-Z is a multispectral, stereoscopic imaging investigation on the Mars 2020 mission’s Perseverance rover. Mastcam-Z consists of a pair of focusable, 4:1 zoomable cameras that provide broadband red/green/blue and narrowband 400-1000 nm color imaging with fields of view from 25.6° × 19.2° (26 mm focal length at 283 μrad/pixel) to 6.2° × 4.6° (110 mm focal length at 67.4 μrad/pixel). The cameras can resolve (≥ 5 pixels) ∼0.7 mm features at 2 m and ∼3.3 cm features at 100 m distance. Mastcam-Z shares significant heritage with the Mastcam instruments on the Mars Science Laboratory Curiosity rover. Each Mastcam-Z camera consists of zoom, focus, and filter wheel mechanisms and a 1648 × 1214 pixel charge-coupled device detector and electronics. The two Mastcam-Z cameras are mounted with a 24.4 cm stereo baseline and 2.3° total toe-in on a camera plate ∼2 m above the surface on the rover’s Remote Sensing Mast, which provides azimuth and elevation actuation. A separate digital electronics assembly inside the rover provides power, data processing and storage, and the interface to the rover computer. Primary and secondary Mastcam-Z calibration targets mounted on the rover top deck enable tactical reflectance calibration. Mastcam-Z multispectral, stereo, and panoramic images will be used to provide detailed morphology, topography, and geologic context along the rover’s traverse; constrain mineralogic, photometric, and physical properties of surface materials; monitor and characterize atmospheric and astronomical phenomena; and document the rover’s sample extraction and caching locations. Mastcam-Z images will also provide key engineering information to support sample selection and other rover driving and tool/instrument operations decisions.

AB - Mastcam-Z is a multispectral, stereoscopic imaging investigation on the Mars 2020 mission’s Perseverance rover. Mastcam-Z consists of a pair of focusable, 4:1 zoomable cameras that provide broadband red/green/blue and narrowband 400-1000 nm color imaging with fields of view from 25.6° × 19.2° (26 mm focal length at 283 μrad/pixel) to 6.2° × 4.6° (110 mm focal length at 67.4 μrad/pixel). The cameras can resolve (≥ 5 pixels) ∼0.7 mm features at 2 m and ∼3.3 cm features at 100 m distance. Mastcam-Z shares significant heritage with the Mastcam instruments on the Mars Science Laboratory Curiosity rover. Each Mastcam-Z camera consists of zoom, focus, and filter wheel mechanisms and a 1648 × 1214 pixel charge-coupled device detector and electronics. The two Mastcam-Z cameras are mounted with a 24.4 cm stereo baseline and 2.3° total toe-in on a camera plate ∼2 m above the surface on the rover’s Remote Sensing Mast, which provides azimuth and elevation actuation. A separate digital electronics assembly inside the rover provides power, data processing and storage, and the interface to the rover computer. Primary and secondary Mastcam-Z calibration targets mounted on the rover top deck enable tactical reflectance calibration. Mastcam-Z multispectral, stereo, and panoramic images will be used to provide detailed morphology, topography, and geologic context along the rover’s traverse; constrain mineralogic, photometric, and physical properties of surface materials; monitor and characterize atmospheric and astronomical phenomena; and document the rover’s sample extraction and caching locations. Mastcam-Z images will also provide key engineering information to support sample selection and other rover driving and tool/instrument operations decisions.

KW - Jezero crater

KW - Mars

KW - Mars 2020 mission

KW - Perseverance rover

KW - Space imaging

KW - Space instrumentation

U2 - 10.1007/s11214-020-00755-x

DO - 10.1007/s11214-020-00755-x

M3 - Review

C2 - 33612866

AN - SCOPUS:85096533477

VL - 217

JO - Space Science Reviews

JF - Space Science Reviews

SN - 0038-6308

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ER -