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We have used a high-precision, high-resolution digital terrain model (DTM) of the NASA Mars 2020 rover Perseverance landing site in Jezero crater based on mosaicked images from the Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (MRO HiRISE) camera as a reference dataset to evaluate DTMs based on Mars Express High Resolution Stereo Camera (MEX HRSC) and MRO Context camera (CTX) images. Results are consistent with our earlier HRSC-HiRISE comparisons at the Mars Science Laboratory (MSL) Curiosity landing site in Gale crater, confirming that those results were not compromised by the small area compared and potential problems with spatial registration. Specifically, height errors are on the order of half a pixel and correspond to an image matching error of 0.2–0.3 pixel but estimates of horizontal resolution are 10–20 pixels. Products from the HRSC team pipeline at DLR are smoother but more precise vertically than those produced by using the commercial stereo package SOCET SET®. The DLR products are also homogenous in quality, whereas the SOCET products are less smoothed and have higher errors in rougher terrain. Despite this weak variation, our results are consistent with a rule of thumb of 0.2–0.3 pixel matching precision based on many prior studies. Horizontal resolution is significantly coarser than the DTM ground sample distance (GSD), which is typically 3–5 pixels.

We have used high-resolution digital terrain models (DTMs) of two rover landing sites based on mosaicked images from the High-Resolution Imaging Science Experiment (HiRISE) camera as a reference to evaluate DTMs based on High-Resolution Stereo Camera (HRSC) and Context Camera (CTX) images. The Next-Generation Automatic Terrain Extraction (NGATE) matcher in the SOCET SET and GXP® commercial photogrammetric systems produces DTMs with good (small) horizontal resolution but large vertical error. Somewhat surprisingly, results for NGATE are terrain dependent, with poorer resolution and smaller errors on smoother surfaces. Multiple approaches to smoothing the NGATE DTMs give similar tradeoffs between resolution and error; a 5 × 5 lowpass filter is near optimal in terms of both combined resolution-error performance and local slope estimation. Smoothing with an area-based matcher, the standard processing for U.S. Geological Survey planetary DTMs, yields similar errors to the 5 × 5 filter at slightly worse resolution. DTMs from the HRSC team processing pipeline fall within this same trade space but are less sensitive to terrain roughness. DTMs produced with the Ames Stereo Pipeline also fall in this space at resolutions intermediate between NGATE and the team pipeline. Considered individually, resolution and error each varied by approximately a factor of 2. Matching errors were 0.2–0.5 pixels but most results fell in the 0.2–0.3 pixel range that has been stated as a rule of thumb in multiple prior studies. Horizontal resolutions of 10–20 image pixels were found, consistently greater than the 3–5 pixel spacing generally used for stereo DTM production. Resolution and precision were inversely correlated; their product varied by ≤20% (4–5 pixels squared). Refinement of the stereo DTM by photoclinometry can yield quantitative improvement in resolution (more than a factor of 2), provided that albedo variations over distances smaller than the stereo DTM resolution are not too severe. We offer specific guidance for both producers and users of planetary stereo DTMs, based on our results.

We have used high-precision, high-resolution digital terrain models (DTMs) of the NASA Mars Science Laboratory and Mars 2020 rover landing sites based on mosaicked images from the Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (MRO HiRISE) camera as a reference data set to evaluate DTMs based on Mars Express High Resolution Stereo Camera (MEX HRSC) images. The Next Generation Automatic Terrain Extraction (NGATE) matcher in the SOCET SET/GXP® commercial photogram- metric system produces DTMs with relatively good (small) horizontal resolution but high error, and results are terrain dependent, with poorer resolution and smaller errors on smoother surfaces. Multiple approaches to smoothing the NGATE DTMs give very similar tradeoffs between resolution and error. Smoothing the NGATE DTMs with a 5x5 lowpass filter is near optimal in terms of both combined resolution-error performance and local slope estimation, but smoothing with a single pass of an area-based matcher, which has been the standard approach for generating planetary DTMs at the U.S. Geological Survey to date results in similar errors and only slightly worse resolution. DTMs from the HRSC team processing pipeline fall within this same trade space but are less sensitive to terrain roughness. DTMs produced with the Ames Stereo Pipeline also fall in this space at resolutions intermediate between NGATE and the team pipeline. Although DTM resolution and error each vary by a factor of 2, the product of resolution and error is much more consistent, varying by ≤20% across multiple image sets and matching algorithms. Refinement of the stereo DTM by photoclinometry can yield significant quantitative improvement in resolution and some improvement in error (improving their product by as much as a factor of 2), provided that albedo variations over distances smaller than the stereo DTM resolution are not too severe.

We use simulated images to demonstrate a novel technique for mitigating geometric distortions caused by platform motion (“jitter”) as two-dimensional image sensors are exposed and read out line by line (“rolling shutter”). The results indicate that the Europa Imaging System (EIS) on NASA’s Europa Clipper can likely meet its scientific goals requiring 0.1-pixel precision. We are therefore adapting the software used to demonstrate and test rolling shutter jitter correction to become part of the standard processing pipeline for EIS. The correction method will also apply to other rolling-shutter cameras, provided they have the operational flexibility to read out selected “check lines” at chosen times during the systematic readout of the frame area.

We seek to address the question of what processes are at work to fill Ontario Lacus while other, deeper south polar basins remain empty. Our hydrological analysis indicates that Ontario Lacus has a catchment area spanning 5.5% of Titan’s surface and a large catchment area to lake surface area ratio. This large catchment area translates into large volumes of liquid making their way to Ontario Lacus after rainfall. The areal extent of the catchment extends to at least southern mid-latitudes (40°S). Mass conservation calculations indicate that runoff alone might completely fill Ontario Lacus within less than half a Titan year (1 Titan year = 29.5 Earth years) assuming no infiltration. Cassini Visual and Infrared Mapping Spectrometer (VIMS) observations of clouds over the southern mid and high-latitudes are consistent with precipitation feeding Ontario’s large catchment area. This far-flung rain may be keeping Ontario Lacus filled, making it a liquid hydrocarbon oasis in the relatively dry south polar region.

We point out some errors in the most recent report from the International Astronomical Union (IAU) Working Group on Cartographic Coordinates and Rotational Elements (Archinal et al. 2018).

To evaluate the topography of the surface within the InSight candidate landing ellipses, we generated Digital Terrain Models (DTMs) at lander scales and those appropriate for entry, descent, and landing simulations, along with orthoimages of both images in each stereopair, and adirectional slope images. These products were used to assess the distribution of slopes for each candidate ellipse and terrain type in the landing site region, paying particular attention to how these slopes impact InSight landing and engineering safety, and results are reported here. Overall, this region has extremely low slopes at 1-meter baseline scales and meets the safety constraints of the InSight lander. The majority of the landing ellipse has a mean slope at 1-meter baselines of 3.2°. In addition, a mosaic of HRSC, CTX, and HiRISE DTMs within the final landing ellipse (ellipse 9) was generated to support entry, descent, and landing simulations and evaluations. Several methods were tested to generate this mosaic and the NASA Ames Stereo Pipeline program dem_mosaic produced the best results. For the HRSC-CTX-HiRISE DTM mosaic, more than 99 % of the mosaic has slopes less than 15°, and the introduction of artificially high slopes along image seams was minimized.

There are few identifiable impact craters on Titan, especially in the polar regions. One explanation for this observation is that the craters are being destroyed through fluvial processes, such as weathering, mass wasting, fluvial incision and deposition. In this work, we use a landscape evolution model to determine whether or not this is a viable mechanism for crater destruction on Titan. We find that fluvial degradation can modify craters to the point where they would be unrecognizable by an orbiting spacecraft such as Cassini, given enough time and a large enough erosion rate. A difference in the erosion rate between the equator and the poles of a factor of a few could explain the latitudinal variation in Titan’s crater population. Fluvial erosion also removes central peaks and fills in central pits, possibly explaining their infrequent occurrence in Titan craters. Although many craters on Titan appear to be modified by aeolian infilling, fluvial modification is necessary to explain the observed impact crater morphologies. Thus, it is an important secondary modification process even in Titan’s drier equatorial regions.

Titan is Saturn's largest moon and has a dynamic surface with methane rivers carved by an active hydrological cycle and sand seas shaped by aeolian processes. One way to study the rates of these processes is by examining Titan's impact craters, because they provide quantitative constraints on the level of degradation. With the end of the Cassini Mission in September 2017, we have reassessed the crater population using the entire Cassini Synthetic Aperture Radar (SAR) dataset, including 30 additional craters since the last assessment in 2012, for a total of 90 certain to possible impact craters on Titan. We adjust for incomplete coverage (~69%) of the moon by SAR imaging using a Monte-Carlo approach, and find no major change in Titan's inferred surface age from prior studies. We then used the SARTopo and stereo topography data sets to measure crater depths and diameters. For the first time, rim heights for twelve craters were also reported. On average, Titan's craters are shown to be shallower, with lower rims, than those observed on similarly sized icy moons (e.g. Ganymede). This suggests that the observed modification is due to a combination of sand and sediment infilling onto the crater floor and fluvial erosion of the rims with fluvial erosion playing a larger role than previously thought in crater degradation on Titan.

Rocky ejecta craters (RECs) at the Interior Exploration using Seismic Investigations, Geodesy and Heat Transport (InSight) landing site on Elysium Planitia, Mars, provide constraints on crater modification and rates for the Hesperian and Amazonian. The RECs are between 10 m and 1.2 km in diameter and exhibit five classes of preservation. Class 1 represents pristine craters with sharp rims and abundant ejected rocks. From Classes 2 to 5, rims become more subdued, craters are infilled, and the ejecta become discontinuously distributed. High‐Resolution Imaging Science Experiment digital elevation models indicate a maximum depth to diameter ratio of ~0.15, which is lower than pristine models for craters of similar size. The low ratio is related to the presence of a loosely consolidated regolith and early‐stage eolian infill. Rim heights have an average height to diameter ratio of ~0.03 for the most pristine class. The size‐frequency distribution of RECs, plotted using cumulative and differential methods, indicates that crater classes within the diameter range of 200 m to 1.2 km are separated by ~100 to 200 Myr. Smaller craters degrade faster, with classes separated by

International audience; This report continues the practice where the IAU Working Group on Cartographic Coordinates and Rotational Elements revises recommendations regarding those topics for the planets, satellites, minor planets, and comets approximately every 3 years. The Working Group has now become a "functional working group" of the IAU, and its membership is open to anyone interested in participating. We describe the procedure for submitting questions about the recommendations given here or the application of these recommendations for creating a new or updated coordinate system for a given body. Regarding body orientation, the following bodies have been updated: Mercury, based on MESSENGER results; Mars, along with a refined longitude definition; Phobos; Deimos; (1) Ceres; (52) Europa; (243) Ida; (2867) Šteins; Neptune; (134340) Pluto and its satellite Charon; comets 9P/Tempel 1, 19P/Borrelly, 67P/Churyumov-Gerasimenko, and 103P/Hartley 2, noting that such information is valid only between specific epochs. The special challenges related to mapping 67P/Churyumov-Gerasimenko are also discussed. Approximate expressions for the Earth have been removed in order to avoid confusion, and the low precision series expression for the Moon's orientation has been removed. The previously online only recommended orientation model for (4) Vesta is repeated with an explanation of how it was updated. Regarding body shape, text has been included to explain the expected uses of such information, and the relevance of the cited uncertainty information. The size of the Sun has been updated, and notation added that the size and the ellipsoidal axes for the Earth and Jupiter have been recommended by an IAU Resolution. The distinction of a reference radius for a body (here, the Moon and Titan) is made between cartographic uses, and for orthoprojection and geophysical uses. The recommended radius for Mercury has been updated based on MESSENGER results. The recommended radius for Titan is returned to its previous value. Size information has been updated for 13 other Saturnian satellites and added for Aegaeon. The sizes of Pluto and Charon have been updated. Size information has been updated for (1) Ceres and given for (16) Psyche and (52) Europa. The size of (25143) Itokawa has been corrected. In addition, the discussion of terminology for the poles (hemispheres) of small bodies has been modified and a discussion on cardinal directions added. Although they continue to be used for planets and their satellites, it is assumed that the planetographic and planetocentric coordinate system definitions do not apply to small bodies. However, planetocentric and planetodetic latitudes and longitudes may be used on such bodies, following the right-hand rule. We repeat our previous recommendations that planning and efforts be made to make controlled cartographic products; newly recommend that common formulations should be used for orientation and size; continue to recommend that a community consensus be developed for the orientation models of Jupiter and Saturn; newly recommend that historical summaries of the coordinate systems for given bodies should be developed, and point out that for planets and satellites planetographic systems have generally been historically preferred over planetocentric systems, and that in cases when planetographic coordinates have been widely used in the past, there is no obvious advantage to switching to the use of planetocentric coordinates. The Working Group also requests community input on the question submitting process, posting of updates to the Working Group website, and on whether recommendations should be made regarding exoplanet coordinate systems.

Mechanical oscillations or vibrations on spacecraft, also called pointing jitter, cause geometric distortions and/or smear in high resolution digital images acquired from orbit. Geometric distortion is especially a problem with pushbroom type sensors, such as the High Resolution Imaging Science Experiment (HiRISE) instrument on board the Mars Reconnaissance Orbiter (MRO). Geometric distortions occur at a range of frequencies that may not be obvious in the image products, but can cause problems with stereo image correlation in the production of digital elevation models, and in measuring surface changes over time in orthorectified images. The HiRISE focal plane comprises a staggered array of fourteen charge-coupled devices (CCDs) with pixel IFOV of 1 microradian. The high spatial resolution of HiRISE makes it both sensitive to, and an excellent recorder of jitter. We present an algorithm using Fourier analysis to resolve the jitter function for a HiRISE image that is then used to update instrument pointing information to remove geometric distortions from the image. Implementation of the jitter analysis and image correction is performed on selected HiRISE images. Resulting corrected images and updated pointing information are made available to the public. Results show marked reduction of geometric distortions. This work has applications to similar cameras operating now, and to the design of future instruments (such as the Europa Imaging System).

The Integrated Software for Imagers and Spectrometers (ISIS) package was developed by the Astrogeology Science Center of the U.S. Geological Survey in the late 1980s for the cartographic and scientific processing of planetary image data. Initial support was implemented for the Galileo NIMS instrument. Constantly evolving, ISIS has since added support for numerous missions, including most recently the Lunar Reconnaissance Orbiter, MESSENGER, and Dawn missions, plus support for the Metric Cameras flown onboard Apollo 15, 16, and 17. To address the challenges posed by extraterrestrial photogrammetry, the ISIS3 bundle adjustment module, jigsaw, is evolving as well. Here, we report on the current state of jigsaw including improvements such as the implementation of sparse matrix methods, parameter weighting, error propagation, and automated robust outlier detection. Details from the recent processing of Apollo Metric Camera images and from recent missions such as LRO and MESSENGER are given. Finally, we outline future plans for jigsaw, including the implementation of sequential estimation; free network adjustment; augmentation of the functional model of the bundle adjustment to solve for camera interior orientation parameters and target body parameters of shape, spin axis position, and spin rate; the modeling of jitter in line scan sensors; and the combined adjustment of images from a variety of platforms.

Saturn's moon Titan has all the ingredients needed to produce "life as we know it." When exposed to liquid water, organic molecules analogous to those found on Titan produce a range of biomolecules such as amino acids. Titan thus provides a natural laboratory for studying the products of prebiotic chemistry. In this work, we examine the ideal locales to search for evidence of, or progression toward, life on Titan. We determine that the best sites to identify biological molecules are deposits of impact melt on the floors of large, fresh impact craters, specifically Sinlap, Selk, and Menrva craters. We find that it is not possible to identify biomolecules on Titan through remote sensing, but rather through in situ measurements capable of identifying a wide range of biological molecules. Given the nonuniformity of impact melt exposures on the floor of a weathered impact crater, the ideal lander would be capable of precision targeting. This would allow it to identify the locations of fresh impact melt deposits, and/or sites where the melt deposits have been exposed through erosion or mass wasting. Determining the extent of prebiotic chemistry within these melt deposits would help us to understand how life could originate on a world very different from Earth. Key Words: Titan-Prebiotic chemistry-Solar system exploration-Impact processes-Volcanism. Astrobiology 18, 571-585.

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

We present a radar map of the Titan’s seas, with bathymetry estimated as proportional to distance from the nearest shore. This naive analytic bathymetry, scaled to a recent radar sounding of Ligeia Mare, suggests a total liquid volume of ∼32,000 km 3 , at the low end of estimates made in 2008 when mapping coverage was incomplete. We note that Kraken Mare has two principal basins, separated by a narrow (∼17 km wide, ∼40 km long) strait we refer to as the ‘throat’. Tidal currents in this strait may be dramatic (∼0.5 m/s), generating observable effects such as dynamic topography, whirlpools, and acoustic noise, much like tidal races on Earth such as the Corryvreckan off Scotland. If tidal flow through this strait is the dominant mixing process, the two basins take ∼20 Earth years to exchange their liquid inventory. Thus compositional differences over seasonal timescales may exist, but the composition of solutes (and thus evaporites) over Croll–Milankovich timescales should be homogenized.

Cassini RADAR SARtopo and altimetry data are used to construct a global gridded 1 × 1° elevation map, for use in Global Circulation Models, hydrological models and correlative studies. The data are sparse, and so most of the map domain (∼90%) is populated with interpolated values using a spline algorithm. The highest (∼+520 m) gridded point observed is at 48°S, 12°W. The lowest point observed (∼1700 m below a 2575 km sphere) is at 59°S, 317°W: this may be a basin where liquids presently in the north could have resided in the past. If the deepest point were once a sea with the areal extent of present-day Ligeia Mare, it would be ∼1000 m deep. We find four prominent topographic rises, each ∼200 km wide, radar-bright and heavily dissected, distributed over a ∼3000 km arc in the southeastern quadrant of Titan (∼40–60°S, 15–150°W).

[1] The existence of cryovolcanic features on Titan has been the subject of some controversy. Here we use observations from the Cassini RADAR, including Synthetic Aperture Radar (SAR) imaging, radiometry, and topographic data as well as compositional data from the Visible and Infrared Mapping Spectrometer (VIMS) to reexamine several putative cryovolcanic features on Titan in terms of likely processes of origin (fluvial, cryovolcanic, or other). We present evidence to support the cryovolcanic origin of features in the region formerly known as Sotra Facula, which includes the deepest pit so far found on Titan (now known as Sotra Patera), flow-like features (Mohini Fluctus), and some of the highest mountains on Titan (Doom and Erebor Montes). We interpret this region to be a cryovolcanic complex of multiple cones, craters, and flows. However, we find that some other previously supposed cryovolcanic features were likely formed by other processes. Cryovolcanism is still a possible formation mechanism for several features, including the flow-like units in Hotei Regio. We discuss implications for eruption style and composition of cryovolcanism on Titan. Our analysis shows the great value of combining data sets when interpreting Titan's geology and in particular stresses the value of RADAR stereogrammetry when combined with SAR imaging and VIMS.

International audience; Saturn’s moon Enceladus is an active world. In 2005, the Cassini spacecraft witnessed for the first time water-rich jets venting from four anomalously warm fractures (called sulci) near its south pole (1,2). Since then, several observations have provided evidence that the source of the material ejected from Enceladus is a large underground ocean, the depth of which is still debated (3,​4,​5,​6). Here, we report on the first and only opportunity that Cassini’s RADAR instrument (7,8) had to observe Enceladus’s south polar terrain closely, targeting an area a few tens of kilometres north of the active sulci. Detailed analysis of the microwave radiometry observations highlights the ongoing activity of the moon. The instrument recorded the microwave thermal emission, revealing a warm subsurface region with prominent thermal anomalies that had not been identified before. These anomalies coincide with large fractures, similar or structurally related to the sulci. The observations imply the presence of a broadly distributed heat production and transport system below the south polar terrain with ‘plate-like’ features and suggest that a liquid reservoir could exist at a depth of only a few kilometres under the ice shell at the south pole. The detection of a possible dormant sulcus further suggests episodic geological activity.

International audience; We report infrared spectrophotometric variability on the surface of Saturn's moon Titan detected in images returned by the Visual and Infrared Mapping Spectrometer (VIMS) onboard the Cassini Saturn Orbiter. The changes were observed at 7°S, 138°W and occurred between October 27, 2005 and January 15, 2006. After that date the surface was unchanged until the most recent observation, March 18, 2006. We previously reported spectrophotometric variability at another location (26°S, 78°W). Cassini Synthetic Aperture RADAR (SAR) images find that the surface morphology at both locations is consistent with surface flows possibly resulting from cryovolcanic activity (Wall et al., companion paper, this issue). The VIMS-reported time variability and SAR morphology results suggest that Titan currently exhibits intermittent surface changes consistent with present ongoing surface processes. We suggest that these processes involve material from Titan's interior being extruded or effused and deposited on the surface, as might be expected from cryovolcanism.

Fluvial features on Titan and drainage basins on Earth are remarkably similar despite differences in gravity and surface composition. We determined network bifurcation (Rb) ratios for five Titan and three terrestrial analog basins. Tectonically-modified Earth basins have Rb values greater than the expected range (3.0–5.0) for dendritic networks; comparisons with Rb values determined for Titan basins, in conjunction with similarities in network patterns, suggest that portions of Titan’s north polar region are modified by tectonic forces. Sufficient elevation data existed to calculate bed slope and potential fluvial sediment transport rates in at least one Titan basin, indicating that 75 mm water ice grains (observed at the Huygens landing site) should be readily entrained given sufficient flow depths of liquid hydrocarbons. Volumetric sediment transport estimates suggest that ∼6700–10,000 Titan years (∼2.0–3.0 × 105 Earth years) are required to erode this basin to its minimum relief (assuming constant 1 m and 1.5 m flows); these lowering rates increase to ∼27,000–41,000 Titan years (∼8.0–12.0 × 105 Earth years) when flows in the north polar region are restricted to summer months.

Radarclinometry is a powerful technique for estimating heights of landforms in synthetic aperture radar (SAR) images of planetary surfaces. In particular, it has been used to estimate heights of dunes in the sand seas of Saturn’s moon Titan (Lorenz, R.D., and 39 colleagues [2006]. Science 312, 724–727). In this work, we verify the technique by comparing dune heights derived from radarclinometry to known topography of dune fields in the Namib sand sea of western Africa. We compared results from three different image grid spacings, and found that 350 m/pixel (the same spacing at which the Cassini RADAR data was processed) is sufficient to determine dune height for dunes of similar morphometry to those of the Namib sand sea. At this grid spacing, height estimates derived from radarclinometry are largely representative of, though may underestimate by as much as 30%, or overestimate by as much as 40%, true dune height. Applying the technique to three regions on Titan, we estimate dune heights of 45–180 m, and dune spacings of 2.3–3.3 km. Obtaining accurate heights of Titan’s dunes will help to constrain the total organic inventory on Titan.

The Cassini Titan Radar Mapper is providing an unprecedented view of Titan’s surface geology. Here we use Synthetic Aperture Radar (SAR) image swaths (Ta–T30) obtained from October 2004 to December 2007 to infer the geologic processes that have shaped Titan’s surface. These SAR swaths cover about 20% of the surface, at a spatial resolution ranging from ∼350 m to ∼2 km. The SAR data are distributed over a wide latitudinal and longitudinal range, enabling some conclusions to be drawn about the global distribution of processes. They reveal a geologically complex surface that has been modified by all the major geologic processes seen on Earth – volcanism, tectonism, impact cratering, and erosion and deposition by fluvial and aeolian activity. In this paper, we map geomorphological units from SAR data and analyze their areal distribution and relative ages of modification in order to infer the geologic evolution of Titan’s surface. We find that dunes and hummocky and mountainous terrains are more widespread than lakes, putative cryovolcanic features, mottled plains, and craters and crateriform structures that may be due to impact. Undifferentiated plains are the largest areal unit; their origin is uncertain. In terms of latitudinal distribution, dunes and hummocky and mountainous terrains are located mostly at low latitudes (less than 30°), with no dunes being present above 60°. Channels formed by fluvial activity are present at all latitudes, but lakes are at high latitudes only. Crateriform structures that may have been formed by impact appear to be uniformly distributed with latitude, but the well-preserved impact craters are all located at low latitudes, possibly indicating that more resurfacing has occurred at higher latitudes. Cryovolcanic features are not ubiquitous, and are mostly located between 30° and 60° north. We examine temporal relationships between units wherever possible, and conclude that aeolian and fluvial/pluvial/lacustrine processes are the most recent, while tectonic processes that led to the formation of mountains and Xanadu are likely the most ancient.

Using data from the High Resolution Imaging Science Experiment (HiRISE) aboard the Mars Reconnaissance Orbiter, we reassess the methods by which layers within the north polar layered deposits (NPLD) can be delineated and their thicknesses measured. Apparent brightness and morphology alone are insufficient for this task; high resolution topographic data are necessary. From these analyses, we find that the visible appearance of layers depends to a large degree on the distribution of younger, mantling deposits (which in turn is partially influenced by inherent layer properties) and on the shape and location of the particular outcrop. This younger mantle partially obscures layer morphology and brightness and is likely a cause of the gradational contacts between individual layers at this scale. High resolution images reveal that there are several layers similar in appearance to the well-known marker bed discovered by Malin, M., Edgett, K., 2001. J. Geophys. Res. 106, 23429–23570. The morphology, thicknesses ( 4 - 8 ± 2 m ) , and separation distances ( 5 - 32 ± 2 m ) of these marker beds, as gleaned from a high resolution stereo digital elevation model, lend insight into the connection between stratigraphy and climate.

The High Resolution Imaging Science Experiment (HiRISE) on the Mars Reconnaissance Orbiter (MRO) acquired 8 terapixels of data in 9137 images of Mars between October 2006 and December 2008, covering ~0.55% of the surface. Images are typically 5–6 km wide with 3-color coverage over the central 20% of the swath, and their scales usually range from 25 to 60 cm/pixel. Nine hundred and sixty stereo pairs were acquired and more than 50 digital terrain models (DTMs) completed; these data have led to some of the most significant science results. New methods to measure and correct distortions due to pointing jitter facilitate topographic and change-detection studies at sub-meter scales. Recent results address Noachian bedrock stratigraphy, fluvially deposited fans in craters and in or near Valles Marineris, groundwater flow in fractures and porous media, quasi-periodic layering in polar and non-polar deposits, tectonic history of west Candor Chasma, geometry of clay-rich deposits near and within Mawrth Vallis, dynamics of flood lavas in the Cerberus Palus region, evidence for pyroclastic deposits, columnar jointing in lava flows, recent collapse pits, evidence for water in well-preserved impact craters, newly discovered large rayed craters, and glacial and periglacial processes. Of particular interest are ongoing processes such as those driven by the wind, impact cratering, avalanches of dust and/or frost, relatively bright deposits on steep gullied slopes, and the dynamic seasonal processes over polar regions. HiRISE has acquired hundreds of large images of past, present and potential future landing sites and has contributed to scientific and engineering studies of those sites. Warming the focal-plane electronics prior to imaging has mitigated an instrument anomaly that produces bad data under cold operating conditions.

A technique, referred to as SARTopo, has been developed for obtaining surface height estimates with 10 km horizontal resolution and 75 m vertical resolution of the surface of Titan along each Cassini Synthetic Aperture Radar (SAR) swath. We describe the technique and present maps of the co-located data sets. A global map and regional maps of Xanadu and the northern hemisphere hydrocarbon lakes district are included in the results. A strength of the technique is that it provides topographic information co-located with SAR imagery. Having a topographic context vastly improves the interpretability of the SAR imagery and is essential for understanding Titan. SARTopo is capable of estimating surface heights for most of the SAR-imaged surface of Titan. Currently nearly 30% of the surface is within 100 km of a SARTopo height profile. Other competing techniques provide orders of magnitude less coverage. We validate the SARTopo technique through comparison with known geomorphological features such as mountain ranges and craters, and by comparison with co-located nadir altimetry, including a 3000 km strip that had been observed by SAR a month earlier. In this area, the SARTopo and nadir altimetry data sets are co-located tightly (within 5–10 km for one 500 km section), have similar resolution, and as expected agree closely in surface height. Furthermore the region contains prominent high spatial resolution topography, so it provides an excellent test of the resolution and precision of both techniques.

We investigate the possibility of measuring the heights and morphology of viscously emplaced domes using radar imagery. We accurately reproduce the known height and shape of a terrestrial salt dome, and estimate the heights of several venusian pancake domes to within a factor of two. The terrestrial salt dome is consistent with a Bingham flow, while the much larger venusian pancake domes are consistent with a Newtonian flow. Applying the same techniques to Ganesa Macula, a potential cryovolcanic dome on Titan, we estimate a height between 2.0–4.9 km. Additional factors such as variable roughness and composition might account for some of the discrepancies observed.

Cassini radar images show a variety of fluvial channels on Titan's surface, often several hundreds of kilometers in length. Some (predominantly at low- and mid-latitude) are radar-bright and braided, resembling desert washes where fines have been removed by energetic surface liquid flow, presumably from methane rainstorms. Others (predominantly at high latitudes) are radar-dark and meandering and drain into or connect polar lakes, suggesting slower-moving flow depositing fine-grained sediments. A third type, seen predominantly at mid- and high latitudes, have radar brightness patterns indicating topographic incision, with valley widths of up to 3 km across and depth of several hundred meters. These observations show that fluvial activity occurs at least occasionally at all latitudes, not only at the Huygens landing site, and can produce channels much larger in scale than those observed there. The areas in which channels are prominent so far amount to about 1% of Titan's surface, of which only a fraction is actually occupied by channels. The corresponding global sediment volume inferred is not enough to account for the extensive sand seas. Channels observed so far have a consistent large-scale flow pattern, tending to flow polewards and eastwards.

We present initial results on the calibration and interpretation of the high-resolution radiometry data acquired during the Synthetic Aperture Radar (SAR) mode (SAR-radiometry) of the Cassini Radar Mapper during its first five flybys of Saturn's moon Titan. We construct maps of the brightness temperature at the 2-cm wavelength coincident with SAR swath imaging. A preliminary radiometry calibration shows that brightness temperature in these maps varies from 64 to 89 K. Surface features and physical properties derived from the SAR-radiometry maps and SAR imaging are strongly correlated; in general, we find that surface features with high radar reflectivity are associated with radiometrically cold regions, while surface features with low radar reflectivity correlate with radiometrically warm regions. We examined scatterplots of the normalized radar cross-section σ 0 versus brightness temperature, outlining signatures that characterize various terrains and surface features. The results indicate that volume scattering is important in many areas of Titan's surface, particularly Xanadu, while other areas exhibit complex brightness temperature variations consistent with variable slopes or surface material and compositional properties.

The Cassini Titan Radar mapper has observed elevated blocks and ridge-forming block chains on Saturn's moon Titan demonstrating high topography we term “mountains.” Summit flanks measured from the T3 (February 2005) and T8 (October 2005) flybys have a mean maximum slope of 37° and total elevations up to 1930 m as derived from a shape-from-shading model corrected for the probable effects of image resolution. Mountain peak morphologies and surrounding, diffuse blankets give evidence that erosion has acted upon these features, perhaps in the form of fluvial runoff. Possible formation mechanisms for these mountains include crustal compressional tectonism and upthrusting of blocks, extensional tectonism and formation of horst-and-graben, deposition as blocks of impact ejecta, or dissection and erosion of a preexisting layer of material. All above processes may be at work, given the diversity of geology evident across Titan's surface. Comparisons of mountain and blanket volumes and erosion rate estimates for Titan provide a typical mountain age as young as 20–100 million years.

Titan's vast equatorial fields of RADAR-dark longitudinal dunes seen in Cassini RADAR synthetic aperture images correlate with one of two dark surface units discriminated as “brown” and “blue” in Visible and Infrared Mapping Spectrometer (VIMS) color composites of short-wavelength infrared spectral cubes (RGB as 2.0, 1.6, 1.3 μm). In such composites bluer materials exhibit higher reflectance at 1.3 μm and lower at 1.6 and 2.0 μm. The dark brown unit is highly correlated with the RADAR-dark dunes. The dark brown unit shows less evidence of water ice suggesting that the saltating grains of the dunes are largely composed of hydrocarbons and/or nitriles. In general, the bright units also show less evidence of absorption due to water ice and are inferred to consist of deposits of bright fine precipitating tholin aerosol dust. Some set of chemical/mechanical processes may be converting the bright fine-grained aerosol deposits into the dark saltating hydrocarbon and/or nitrile grains. Alternatively the dark dune materials may be derived from a different type of air aerosol photochemical product than are the bright materials. In our model, both the bright aerosol and dark hydrocarbon dune deposits mantle the VIMS dark blue water ice-rich substrate. We postulate that the bright mantles are effectively invisible (transparent) in RADAR synthetic aperture radar (SAR) images leading to lack of correlation in the RADAR images with optically bright mantling units. RADAR images mostly show only dark dunes and the water ice substrate that varies in roughness, fracturing, and porosity. If the rate of deposition of bright aerosol is 0.001–0.01 μm/yr, the surface would be coated (to optical instruments) in hundreds-to-thousands of years unless cleansing processes are active. The dark dunes must be mobile on this very short timescale to prevent the accumulation of bright coatings. Huygens landed in a region of the VIMS bright and dark blue materials and about 30 km south of the nearest occurrence of dunes visible in the RADAR SAR images. Fluvial/pluvial processes, every few centuries or millennia, must be cleansing the dark floors of the incised channels and scouring the dark plains at the Huygens landing site both imaged by Descent Imager/Spectral Radiometer (DISR).

International audience; The Cassini Titan Radar Mapper obtained Synthetic Aperture Radar images of Titan's surface during four fly-bys during the mission's first year. These images show that Titan's surface is very complex geologically, showing evidence of major planetary geologic processes, including cryovolcanism. This paper discusses the variety of cryovolcanic features identified from SAR images, their possible origin, and their geologic context. The features which we identify as cryovolcanic in origin include a large (180 km diameter) volcanic construct (dome or shield), several extensive flows, and three calderas which appear to be the source of flows. The composition of the cryomagma on Titan is still unknown, but constraints on rheological properties can be estimated using flow thickness. Rheological properties of one flow were estimated and appear inconsistent with ammonia-water slurries, and possibly more consistent with ammonia-water-methanol slurries. The extent of cryovolcanism on Titan is still not known, as only a small fraction of the surface has been imaged at sufficient resolution. Energetic considerations suggest that cryovolcanism may have been a dominant process in the resurfacing of Titan.

In many cases, the derivation of high-resolution digital terrain models (DTMs) from planetary surfaces using conventional digital image matching is a problem. The matching methods need at least one stereo pair of images with sufficient texture. However, many space missions provide only a few stereo images and planetary surfaces often possess insufficient texture. This paper describes a method for the generation of high-resolution DTMs from planetary surfaces, which has the potential to overcome the described problem. The suggested method, developed by our group, is based on shape-from-shading using an arbitrary number of digital optical images, and is termed “multi-image shape-from-shading” (MI-SFS). The paper contains an explanation of the theory of MI-SFS, followed by a presentation of current results, which were obtained using images from NASA's lunar mission Clementine, and constitute the first practical application with our method using extraterrestrial imagery. The lunar surface is reconstructed under the assumption of different kinds of reflectance models (e.g. Lommel–Seeliger and Lambert). The represented results show that the derivation of a high-resolution DTM of real digital planetary images by means of MI-SFS is feasible.

The most recent Cassini RADAR images of Titan show widespread regions (up to 1500 kilometers by 200 kilometers) of near-parallel radar-dark linear features that appear to be seas of longitudinal dunes similar to those seen in the Namib desert on Earth. The Ku-band (2.17-centimeter wavelength) images show approximately 100-meter ridges consistent with duneforms and reveal flow interactions with underlying hills. The distribution and orientation of the dunes support a model of fluctuating surface winds of approximately 0.5 meter per second resulting from the combination of an eastward flow with a variable tidal wind. The existence of dunes also requires geological processes that create sand-sized (100- to 300-micrometer) particulates and a lack of persistent equatorial surface liquids to act as sand traps.

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.

This paper presents the initial results of lander and rover localization and topographic mapping of the MER 2003 mission (by Sol 225 for Spirit and Sol 206 for Opportunity). The Spirit rover has traversed a distance of 3.2 km (actual distance traveled instead of odometry) and Opportunity at 1.2 km. We localized the landers in the Gusev Crater and on the Meridiani Planum using two-way Doppler radio positioning technology and cartographic triangulations through landmarks visible in both orbital and ground images. Additional high-resolution orbital images were taken to verify the determined lander positions. Visual odometry and bundleadjustment technologies were applied to overcome wheel slippages, azimuthal angle drift and other navigation errors (as large as 21 percent). We generated timely topographic products including 68 orthophoto maps and 3D Digital Terrain Models, eight horizontal rover traverse maps, vertical traverse profiles up to Sol 214 for Spirit and Sol 62 for

Analysis of data combining daytime visible reflected, daytime IR emitted, and nighttime IR emitted images allows us to isolate the physical effects of topography, albedo, and thermal inertia. To a good approximation, these physical influences interact linearly so that maps showing topographic shading, albedo, and relative thermal inertia can be produced by simple algebraic manipulation of the co-registered images. The shading map resembles an airbrush, shaded relief portrayal of the surface, and can be used as the input for quantitative reconstruction of topography by photoclinometry (shape-fromshading). We demonstrate the method with imagery from the NASA 2001 Mars Odyssey Thermal Emission Imaging System (THEMIS), a dataset that could support mapping most of Mars in this way at 100 m resolution.

A 10-km diameter crater named Zunil in the Cerberus Plains of Mars created ∼ 10 7 secondary craters 10 to 200 m in diameter. Many of these secondary craters are concentrated in radial streaks that extend up to 1600 km from the primary crater, identical to lunar rays. Most of the larger Zunil secondaries are distinctive in both visible and thermal infrared imaging. MOC images of the secondary craters show sharp rims and bright ejecta and rays, but the craters are shallow and often noncircular, as expected for relatively low-velocity impacts. About 80% of the impact craters superimposed over the youngest surfaces in the Cerberus Plains, such as Athabasca Valles, have the distinctive characteristics of Zunil secondaries. We have not identified any other large (⩾10 km diameter) impact crater on Mars with such distinctive rays of young secondary craters, so the age of the crater may be less than a few Ma. Zunil formed in the apparently youngest (least cratered) large-scale lava plains on Mars, and may be an excellent example of how spallation of a competent surface layer can produce high-velocity ejecta (Melosh, 1984, Impact ejection, spallation, and the origin of meteorites, Icarus 59, 234–260). It could be the source crater for some of the basaltic shergottites, consistent with their crystallization and ejection ages, composition, and the fact that Zunil produced abundant high-velocity ejecta fragments. A 3D hydrodynamic simulation of the impact event produced 1010 rock fragments ⩾10 cm diameter, leading to up to 109 secondary craters ⩾10 m diameter. Nearly all of the simulated secondary craters larger than 50 m are within 800 km of the impact site but the more abundant smaller (10–50 m) craters extend out to 3500 km. If Zunil is representative of large impact events on Mars, then secondaries should be more abundant than primaries at diameters a factor of ∼1000 smaller than that of the largest primary crater that contributed secondaries. As a result, most small craters on Mars could be secondaries. Depth/diameter ratios of 1300 small craters (10–500 m diameter) in Isidis Planitia and Gusev crater have a mean value of 0.08; the freshest of these craters give a ratio of 0.11, identical to that of fresh secondary craters on the Moon (Pike and Wilhelms, 1978, Secondary-impact craters on the Moon: topographic form and geologic process, Lunar Planet. Sci. IX, 907–909) and significantly less than the value of ∼0.2 or more expected for fresh primary craters of this size range. Several observations suggest that the production functions of Hartmann and Neukum (2001, Cratering chronology and the evolution of Mars, Space Sci. Rev. 96, 165–194) predict too many primary craters smaller than a few hundred meters in diameter. Fewer small, high-velocity impacts may explain why there appears to be little impact regolith over Amazonian terrains. Martian terrains dated by small craters could be older than reported in recent publications.

This paper studies the photogrammetric mapping properties and capabilities of the Mars Global Surveyor (MGS) mapping data. Starting from the raw MGS data, we decompress the MOC narrow angle images, extract, and calculate their exterior orientation from the SPICE kernels, and calculate the 3D coordinates of MOLA footprints from MOLA PEDR files. A new approach is proposed that registers a MOLA profile to stereo MOC images over the same area with robust and faster convergence. Intersection is conducted to determine the 3D positions of image points measured on MOC stereo pairs. It is shown that there is a nearly constant uncertainty of one MOLA ground spacing distance (approximately 325 m) along the flight direction in MOC and MOLA registration. This is caused by the uncertainties in SPICE kernels, MOLA points, and the determination of time tags for MOC scan lines, which possibly constitutes the dominant error source for the registration. Intersection calculation reaches an optimal balance by distributing the uncertainty evenly in the two images of a stereo pair. As for the photogrammetric mapping capabilities, an uncertainty of 180.8 m in planimetric distance and 30.8 m in elevation difference is estimated. A number of numerical and graphic results over three of the selected candidate landing sites for the Mars Exploration Rover mission are presented for analysis and illustration.

International audience; The Cassini RADAR instrument is a multimode 13.8 GHz multiple-beam sensor that can operate as a synthetic-aperture radar (SAR) imager, altimeter, scatterometer, and radiometer. The principal objective of the RADAR is to map the surface of Titan. This will be done in the imaging, scatterometer, and radiometer modes. The RADAR altimeter data will provide information on relative elevations in selected areas. Surfaces of the Saturn's icy satellites will be explored utilizing the RADAR radiometer and scatterometer modes. Saturn's atmosphere and rings will be probed in the radiometer mode only. The instrument is a joint development by JPL/NASA and ASI. The RADAR design features significant autonomy and data compression capabilities. It is expected that the instrument will detect surfaces with backscatter coefficient as low as -40 dB.