International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B4. Istanbul 2004 
  
Table 4. Standard deviations of the adjusted ground coordinate 
of MOLA and tie points 
  
  
  
  
  
  
  
Site Type | ox(m) | oy(m) | oz (m) Zo 
(pixel) 
Eos MOLA | 9.210 8.941 10.183 1.037 
Chasma Tie 99.012 | 141.643 | 43.296 ps 
Gusev | MOLA | 7.869 10.205 . | 10.158 1.059 
Crater Tie 21.270 | 5.020 6.633 t 
Isidis MOLA | 18.297 9.799 18.302 1.014 
Planitia Tic 7.344 | 57.934 | 8.684 : 
  
  
  
  
  
  
  
  
5.3 MOLA and MOC Registration 
The image coordinates of MOLA ground points are calculated 
using adjusted exterior orientation coefficients after the bundle 
adjustment. The new image coordinates can be compared with 
the mis-registered image coordinates of MOLA profiles 
obtained before bundle adjustment to examine the improvement 
as a result of the bundle adjustment. 
The improvement of the MOLA registration can be examined 
by visual checks in Figure 2 and Figure 3. Figure 2 shows the 
comparison of the MOLA profile registration on stereo images 
before and after the bundle adjustment in Gusev Crater site. 
The results of all sites show considerable improvement of 
MOLA registration. However, only Gusev Crater (Figure 2) 
and Isidis Planitia (Figure 3) results are provided due to the 
limit of space. Figure 2 (a) images are the MOLA profile 
registration overlaid with MOC stereo pair images before 
bundle adjustment. The MOLA profiles show the systematic 
registration shifts around one MOLA GSD, about 325 meters, 
in both stereo pair images. The index number 77 of MOLA 
profile is projected outside of a crater in the left stereo pair 
image and, inside of the crater in the right stereo pair image in 
Figure 2 (a) Figure 2 (b) images are the MOLA profile 
registration after the bundle adjustment with the contribution of 
tie points, MOLA ranges and other measurements. Figure 2 (b) 
is the MOLA registration after the bundle adjustment using new 
adjusted exterior orientation. The MOLA profile with index 
number 77 is projected to the same positions slightly outside of 
the crater on the both stereo pair images. Figure 3 shows 
MOLA registration to MOC stereo images in Isidis Planitia. 
Figure 3 shows the MOLA registration results before (Figure 3 
(a)) and after (Figure 3 (b)) bundle adjustment in Isidis Planitia. 
Figure 3 also shows MOLA profile with index numbers near a 
crater in Isidis Planitia site to easily identify the MOLA 
registration results. MOLA profile locations from index 6 to 
index 8 are different in the stereo pair around the crater area in 
Figure 3 (a). However, they are correctly projected to the same 
in Figure 3 (b). 
Figure 4 is the bundle adjustment results with MOLA profiles 
and tie points overlaid with MOC stereo pairs. Figure 4 (a) 
shows the stereo pair of Gusev Crater site and Figure 4 (b) is 
the stereo pair of Eos Chasma sate. MOLA profiles show linear 
pattern on the images, while tie points are scattered over the 
images. Because the tie points are not changed after the bundle 
adjustment, it shows exactly the same location as they are 
collected either manually or automatically. In Figure 4, image 
coordinates of MOLA and tie points are projected to the same 
position of both stereo pair images. 
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Figure 2 (a). MOLA registration before bundle adjustment in 
Gusev Crater 
  
  
  
  
  
Figure 2 (b). MOLA registration after bundle adjustment in 
Gusev Crater 
  
  
  
  
  
Figure 3 (a). MOLA registration before bundle adjustment in 
Isidis Planitia 
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