Rover-Based Surface and Subsurface Modeling for Planetary Exploration

We develop and test a technique for the creation of coupled surface and subsurface models. Images from a stereo camera are used to estimate the motion of a rover that is collecting ground penetrating radar (GPR) data. The motion estimate and raw sensor data are used to build two novel data products: (1) A threedimensional, photorealistic surface model coupled with a ribbon of GPR data, and (2) a two-dimensional, topography-corrected GPR radargram with the reconstructed surface topography plotted above. Each result is derived from only the onboard sensors of the rover, as would be required in a planetary exploration setting. These techniques were tested using data collected in a Mars analogue environment on Devon Island in the Canadian High Arctic. GPR transects were gathered over polygonal patterned ground similar to that seen by the Phoenix lander on Mars. Using the techniques developed here, scientists may remotely explore the interaction of the surface topography and subsurface structure as if they were on site.