The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B4. Beijing 2008 
e 
a 
in-»t h-Oi Tj-N» O in co CO CO CN N-CO 00 CO O) ^ N-O CO 0>'i-CO 00 00 05 O CN T-CD <D r-CM 05 (O O 
OlO^-T-CNTf'^-miOmr^OìOOT-'p-T-COCO'i’^-lOCDCDtOr^'r-COTfTfCOCOOOOìOt-T-C'jTtlOlON-OO 
CO CO O O) O) 05 CD a> a> O 0> CB O O O O O O O O O O O O O O r- t- •«- t- j- r- T- r- CSj CNj CN CN CN CN CN CN¡CN 
t-t-t-*-t-t-t-t-t-t-t-*-(NCN(NC\JCNCNCNCNCNCNCNCNCNCNCNCNCNCNCNCNCNCNCNCMCNCNCNCNCNCNCN 
45 Test Orbits 
♦ Before :>• After 
Figure 10: Height differences between HRSC object points and 
M0LA DTM before and after bundle adjustment 
5. OPERATIONAL PROCESSING OF ALL HRSC 
IMAGERY 
So far, the data of the first 5000 orbits of Mars Express have 
been processed in the desrcibed way, i.e. until orbit 
h4995_0001 which was recorded in November 2007. During 
this time about 1900 image strips of the surface of Mars have 
been received. Because of dust storms, low texture, data gaps, 
limb images, overexposed images or too short image strips only 
1396 orbits are usable for a photogrammetric point 
determination. Successfully registered to the MOLA DTM are 
1138 orbits (=82%); the reasons for failure are bad image 
quality or flat terrain. In the case of flat terrain the used method 
for absolute orientation allows registration to MOLA in height 
but not in horizontal direction. 
6. CONCLUSIONS 
It has been shown that the tie points have on average a very 
high accuracy of 4.5m in X (along flying direction), 3.4m in Y 
(across flying direction) and 15.8m in Z (height component). 
These values have to be seen in context with the fact that the 
average resolution of the prerectified images is 30 m. The 
image coordinates have an accuracy of 1/5 pixel with LSM 
which is a very good value considering the difficult image data. 
Depending on the size of the image strips between 10000 and 
60000 tie points have been found which is sufficient for a 
stable Relative and Absolute Orientation. About 75% of these 
tuples comprise all five rays. 
Before using bundle adjustment the height differences between 
the HRSC object points and the MOLA DTM show a 
systematic curvature. After improving the orbits with bundle 
adjustment the height differences between the HRSC object 
points and the MOLA DTM are reduced for all 1138 
successfully computed orbits. Thus, the approach reaches a 
high consistency between HRSC points and MOLA DTM, 
which constitutes the currently best reference system on Mars. 
REFERENCES 
Buades, A., Coll, B., Morel, J. M., 2005. A Review of Image 
Denoising Algorithms with a New One. Multiscale Modeling & 
Simulation, 4 (2), pp. 490-530. 
Dumke, A., Spiegel, M., Schmidt, R., 2008. Mars: High- 
Resolution Digital Terrain Model and Ortho-Image Mosaic on 
the Basis of MEX/HRSC Data. IntArchPhRS, 37 (4), this 
congress. 
Gwinner, K., Schölten, F., Giese, B., Oberst, J., Jaumann, R., 
Spiegel, M., Schmidt, R., Neukum, G., 2005. Hochauflösende 
Digitale Geländemodelle auf der Grundlage von Mars Express 
HRSC-Daten. Photogrammetrie Fernerkundung Geoinfor- 
mation, 5/2005, pp. 387-394. 
Krupnik, A., Schenk, T., 1997. Experiments with matching in 
the object space for aerotriangulation, ISPRS Journal of 
Photogrammetry and Remote Sensing, 52 (4), pp. 160-168. 
Neukum, G., Jaumann, R., HRSC Co-Investigator and 
Experiment Team, 2004. HRSC: The High Resolution Stereo 
Camera of Mars Express. In: Mars Express: the scientific 
payload, Andrew Wilson (Ed.), scientific coordination: Agustin 
Chicarro, ESA SP-1240, Noordwijk, Netherlands: ESA 
Publications Division, ISBN 92-9092-556-6, pp. 17-35. 
Neumann, G., Lemoine, F., Smith, D. and Zuber, M., 2003. 
The Mars Orbiter Laser Altimeter Archive: Final Precision 
Experiment Data Record Release and Status of Radiometry. In: 
Lunar and Planetary Science XXXIV, Abstract #1978, Lunar 
and Planetary Institute, Houston. 
Norvelle, F. R., 1992. Stereo Correlation: Window Shaping 
and DEM Corrections. PE&RS, 58 (1), pp. 111-115. 
Perona, P., Malik, J., 1990. Scale-Space and Edge Detection 
using Anisotropic Diffusion. IEEE Trans, on Pattern Analysis 
and Machine Intelligence, 12 (7), pp. 629-639. 
Schmidt, R., 2008. Automatische Bestimmung von 
Verknüpfungspunkten für HRSC-Bilder der Mars Express- 
Mission. Dissertation, Leibniz Universität Hannover, submitted. 
Schölten, F., Gwinner, K., Roatsch, T., Matz, K.-D., Wählisch, 
M., Giese, B., Oberst, J., Jaumann, R., Neukum, G., 2005. 
Mars Express HRSC Data Processing - Methods and 
Operational Aspects. PE&RS, 71 (10), pp. 1143-1152. 
Spiegel, M., 2007a. Improvement of Interior and Exterior 
Orientation of the Three Line Camera HRSC with a 
Simultaneous Adjustment. IntArchPhRS, 36 (3/W49B), pp. 
161-166. 
Spiegel, M., 2007b. Kombinierte Ausgleichung der Mars 
Express HRSC Zeilenbilddaten und des Mars Global Surveyor 
MOLA DGM. Dissertation, DGK C, 610, Verlag der 
Bayerischen Akademie der Wissenschaften, München, 
http://l 29.187.165.2/typo3_dgk/docs/c-610.pdf. 
ACKNOWLEDGEMENTS 
We thank the HRSC Experiment Teams at DLR Berlin and 
Freie Universität Berlin as well as the Mars Express Project 
Teams at ESTEC and ESOC for their successful planning and 
acquisition of data as well as for making the processed data 
available to the HRSC Team. This work is funded by 
Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) under 
grant no. 50 QM 0103 and 50 QM 0104. This support is 
gratefully acknowledged.