Computational Intelligence - November 2013 - 56

Table 5 Investigation (4):
using PC_HRC_ALL_SEQ.

(a)

(b)

(c)

(d)

HrC image iD

Pan [deg]

(a) 02670

12.5

(b) 02671

15.0

(c) 02672

17.5

(d) 02673

20.0

Investigation (6): Sol 22 WAC Color
Panorama Images
(e)

(f)

(g)

(h)

Figure 9 Shows investigation (3): Sol 2 WAC geology images.

(a)

(b)

(c)

(d)

(e)
Figure 10 Shows investigation (4): Sol 2 HRC color images mosaic.

produce images at 1024 # 1024 resolution. These images were acquired during
sunset at altitude 3,490 m, pan angle 10°,
tilt angle 30°, toe in angle 2.8°, ET 1.6
second, WVF 16.673 g/kg, ambient temperature 37 °C and pressure 601 hPa. It
took 5 minutes to complete. Table 4
includes the investigation data and Figure
9 displays the result images from the
experiment. Note that the color images
were acquired with a Beagle 2 left FW in
front of an RGB camera; which had no
IR-cut filter before the sensor.
Investigation (4): Sol 2 Subset of HRC
Color Images Mosaic

Four 1024 # 1024 HRC images were
acquired at EBC with altitude 5,150 m,
tilt angle −20°, autofocus, ET 1.4 second
WVF 11.383 g/kg, ambient temperature
13 °C and pressure 483 hPa. The investigation started at 15:28. Table 5 and

56

Figure  10 (a), (b), (c) and (d) show the
recorded data and images. Figure 10 (e)
illustrates the result of HRC color images
mosaic as displayed at the ROCC.
Investigation (5): Sol 6 Six
WAC Stereo Color Images
Using RRGB Filters

WAC accomplished the PC_WAC_
STC_PAN timeline sequence successfully; and captured twenty-four images
in the Himalayan region at altitude
3,490 m. During each PTU position,
we acquired 1024 # 1024 resolution
RRGB images at the tilt angle 15°, toe
in angle 2.8°; which had the similar
imaging results as described in Figure 7.
Table 6 collects the data during the
timeline sequence. Note that abbreviation AT represents ambient temperature and Pres is pressure in the following tables.

IEEE ComputatIonal IntEllIgEnCE magazInE | novEmbEr 2013

Twelve WAC RGB images were captured in the Himalayas at altitude
3,490 m with resolution 1024 # 1024,
tilt angle 30° and toe in angle 2.8°.
This panorama timeline sequence was
completed successfully. Table 7 and
Figure 11 display the result data and
panoramic view of WAC RGB images.
IV. Sub-Framing, Data Compression
and Super-Resolution

ExoMars PanCam image compression
is a robust wavelet algorithm [5]. It has
the lossless and lossy compressions
which provide either high definition
images for close examination or heavily
compressed thumbnail images for efficient transmission. Primarily, the data
volume of WAC or HRC image is
determined by the compression ratio,
sub-framing (cropping) size and image
resolution (e.g. down-sampling) from
the lossless compression ratio 2:1 (8 bit
per pixel) to the lossy compression 80:1
(0.2 bit per pixel) thumbnail. There are
six different sizes of image including
1024, 512, 256, 128, 64 and 32 pixels in
row and column, Assuming the row
value is equal to the column, rover
normally keeps 10:1 (1.6 bit per pixel)
compressed image in memory for the
general geological investigation and scientific purposes. The highly compressed thumbnail (i.e. quick look, preview) often leads to the next download
for the same image but with a higher
resolution. In general, image data
should be compressed before packetizing and transmitting to the ROCC;
very occasionally it may be desirable to
transmit an uncompressed raw image.
In this case, additional image processing
functions such as down-sampling,



Table of Contents for the Digital Edition of Computational Intelligence - November 2013

Computational Intelligence - November 2013 - Cover1
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