;, 

! , 

NASA Contractor Report 3326 

NASA-CR-3326 

{q ~ 000 R~ &O~ 

The Mosaics of Mars 

As Seen by the Viking Lander Cameras 

Elliott C. Levinthal and Kenneth L. Jones 

GRANT NSG-7538 

SEPTEMBER 1980 

NI\S/\ 

1111111111111 1111 11111111111111111111 11111111 

NF02120 
NASA Contractor Report 3326 

The Mosaics of Mars 

As Seen by the Viking Lander Cameras 

Elliott C. Levinthal 

Stanford University 

Stanford, California 

Kenneth L. Jones 

Jet Propulsion Laboratory 

Pasadena, California 

Prepared for 

NASA Headquarters 

under Grant NSG-7538 

NAS/\ 

National Aeronautics 

and Space Administration 

Scientific and Technical 

Information Branch 

1980 
Preface 

This publication describes the mosaics and derivative products produced 

from many individual high resolution images acquired by the Viking Lander 

Camera Systems. Ten mosaics were produced; a morning and afternoon mosaic for 

both cameras at the Lander I Chryse Planitia site, and a morning, noon, and 

afternoon camera pair at Utopia Planitia, the Lander II site. 

The derived products include special geometric projections of the mosaic 

data sets, polar stereographic ("donut"), stereoscopic, and orthographic. 

Additionally, the mosaics were used to produce contour maps and vertical 

profiles of the topography. These map products were then overlaid on the 

mosaics from which they were derived. Sets of stereo pairs were extracted and 

enlarged from stereoscopic projections of the mosaics. A movie, "Mars in 3-

D", was made from some of these same stereoscopic projections. 

For all of these products, the method by which they were createrl is 

described. In addition, information is given concerning the final forms of the 

various products that are available and how they may be procured. It is 

believed that these mosaic products will serve much of the need for Viking 

Lander imaging data. 

The products described in this publication are in a special products 

category of the Team Data Record (TOR) of the Lander Imaging Team. A few 

additional products, also in this category, but not derived from the mosaics, 

are described in an appendix. 

iii 
TABLE OF CONTENTS 

Preface 

Table of Contents 

List of Tables 

List of Figures 

I. Introduction 

II. The Mosaics 

A. General Discussion 

B. Methodology 

1. General Techniques 

2. Photometric Corrections 

3. Geometric Corrections 

C. List of Camera Events Used in Mosaics 

D. The Final Products 

1. Photoproducts 

2. Lithographic Products 

3. Magnetic Tapes 

III. The Derived Products 

A. "Donut" Projections 

B. Stereoscopic Projections 

1. General Discussion 

2. Operation of VL Stereo 

3. The VL Stereo Products 

a. Standard VL Stereo 

b. Special VL Stereo 

C. Stereo Pairs 

1. Stereo Windows from the Mosaics 

2. Other Stereo Pairs 

D. Orthographic Projections 

E. Map products 

F. Contour and Vertical Profile Overlays 

G. Movie - "Mars in 3-D" 

1. Technical Description 

2. Available Forms of the Movie 

IV. Procurement of Products 

A. Photo Products 

B. Magnetic Tapes 

C. Lithographic Products 

D. Map Products 

E. Movie - "Mars in 3-D" 

F. Regional Planetary Image Facilities 

v 

iii 

v 

vii 

viii 

2 

2 

3 

3 

5 

5 

8 

11 

11 

13 

14 

17 

17 

18 

18 

21 

22 

22 

23 

25 

25 

26 

27 

28 

30 

32 

32 

34 

36 

36 

37 

39 

40 

40 

41 
V. References 43 

VI. Acknowledgements 44 

Appendices 45 

I. Use of the Mosaics for Photgrammetry 45 

A. Approximate method of ranging using mosaic 45 

photoproducts and lithographs 

B. RANGER Method giving pointing direction in LACS 46 

II. Other Team Data Record Special Products 

A. 1-Mil, 3X 

B. Diffpic 

C. Special 

vi 

51 

51 

52 

52 
LIST OF TABLES 

PAGE 

1. RESIDUAL ERRORS IN AZIMUTH AND ELEVATION ANGLES............... 7 

2. HIGH RESOLUTION MOSAICS - IPL PIC IDs .••.....••.••.........•.• 12 

3. TAPE LIST - MOSAICS AND STANDARD VL STEREO .•..•••.••......•••• 15 

4. "DONUT" PROJECTIONS - IPL PIC IDs •••••.•.•••..•.•••.•..•....•. 18 

5. STANDARD AND SPECIAL VLSTEREO PRODUCTS - IPL PIC IDs ..••...••. 24 

6. STEREOSCOPIC WINDOWS FROM THE MOSAICS •.•..........••••.......• 26 

7. ORTHOGRAPHIC PROJECTIONS - IPL PIC lOs ....•••......•..•.••.... 27 

8. RANGE DATA SETS (RDS) OVERLAyS •.•.••.•...•..••..•.••..••.••••• 31 

9. NSSDC DATA ID NUMBERS •••••••.•..••.••..•••.••.••.....••..•••.• 37 

10. RECIPIENTS OF DIGITAL PRODUCTS ....•••.....•••••••..•.•.•.••••• 38 

11. USGS PUBLIC INQUI RIES OFFICES •••.••..•..•••••••........••••... 39 

12. REGIONAL SPACE DATA CENTERS .•••.....••.•....••.••.•.••......•• 41 

vii 
LIST OF FIGURES 

All figures have been placed in the back of this publication with a 

sufficient margin along the binding so that some can be conveniently cut out 

and removed to allow them to be used for stereo viewing. Alternatively, 

separate glossy prints can be ordered from the NSSDC. An NSSDC order form is 

included with the pUblication. 

1. Camera Coordinate Systems and Orientation of Landers 

2. 4-Sector Mosaic, Ll.C2.AM, IPL PIC ID 77/10/21/012442 

3. 2-Sector Mosaic, Ll.Cl.AM, 03+Q4, IPL PIC ID 77/10/20/201659 

4. 2-Sector Mosaic, Ll.C2.AM, Ql+Q2, IPL PIC ID 77/10/11/195106 

5. "DONUT", Ll.Cl.AM, IPL PIC ID 78/01/03/185404 

6. VL STEREO, Ll.Cl.AM, Q3+Q4, IPL PIC ID 78/10/19/171012 

(FRONT - LEFT EYE) 

7. VL STEREO, Ll.C2.AM, Ql+02, IPL PIC ID 78/10/19/175118 

(FRONT - RIGHT EYE) 

8. SPECIAL VL STEREO Ll.Cl.AM, 03+Q4 IPL PIC ID 78/10/10/185301 

(FRONT - LEFT EYE - CAMSEP = 0) 

9. SPECIAL VL STEREO Ll.Cl.AM, 01+Q2 IPL PIC ID 78/09/08/113258 

(FRONT - RIGHT EYE - CAMSEP = 0) 

10. SPECIAL VL STEREO, Ll.Cl.AM, Q3+04 IPL PIC ID 79/02/07/000423 

(FRONT - LEFT EYE - NODEL) 

11. SPECIAL VL STEREO, Ll.Cl.AM, Ql+02 IPL PIC ID 78/08/12/114001 

(FRONT - RIGHT EYE - NODEL) 

12. SPECIAL VL STEREO, Ll.Cl.AM, 03+Q4 IPL PIC ID 78/08/27/010209 

(FRONT - LEFT EYE - HEIGHT=4) 

13. SPECIAL VL STEREO, Ll.Cl.AM, Ql+02 IPL PIC ID 78/08/06/222439 

(FRONT - RIGHT EYE - HEIGHT=4) 

14. STEREO PAIR Ll.Cl.AM, STEREO-L IPL PIC ID 78/06/10/093912 

(SEO - 004) 

15. STEREO PAIR Ll.C2.AM, STEREO-R IPL PIC ID 78/06/04/143553 

(SEQ - 004) 

16. ORTHOGRAPHIC Ll.C2.AM, IPL PIC ID 79/12/301012037 

(AZIMUTH RANGE 120-220° ELEVATION RANGE 25-60° 

17. MAP PRODUCT, VL-2 Scale 1:20 (reduced 2.5:1) 

18. RANGE DATA SETS (PROFILES) OVERLAIN ON HIGH RESOLUTION MOSAICS 

L2.C2.AM - BACK. IPL PIC ID 79/10108/234537 

19. RANGE DATA SETS (CONTOURS) OVERLAIN ON STANDARD VLSTEREO 

Ll.C2.AM - FRONT. IPL PIC ID 79/09/03/064209 

20. RANGE DATA SETS (CONTOURS) OVERLAIN ON STANDARD VLSTEREO 

L2.C2.AM - FRONT. IPL PIC ID 79/09/05/052010 

viii 
I. INTRODUCTION 

Two Viking spacecraft, each consisting of an orbiter and lander, were 

launched from the Kennedy Space Center on August 20 and September 9, 1975. 

The Viking 1 spacecraft arrived at Mars on June 19, 1976, and was placed in a 

highly elliptical orbit around the planet with a periapsis altitude of nearly 

1500 km. The orbiter cameras were used in conjunction with other methods to 

find a suitable landing site for the lander. After about 30 days in orbit, 

the lander was separated from the orbiter and on July 20, 1976, Viking Lander 

1 touched down on the surface of Mars at lat 22.4B3° N.* and long 47.9680 w. 

(Morris and Jones, 1980) on the west edge of a large basin called Chryse 

Planitia. It landed in a stable position with a 30 tilt downward in the 

direction 284.940 clockwise from north. The side of the lander on which the 

two cameras are mounted faces southeast. When the cameras are pointed in a 

direction normal to the front of the lander, the viewing direction is 141.63 

+1-.790 clockwise from north along the horizon. The first picture from the 

surface of Mars was taken immediately after landing by camera 2, of the area 

in the vicinity of the lander's footpad 3. During the ensuing 43 days, the 

cameras responded to all commands and successfully carried out their assigned 

mission. On September 2, the activities of Lander 1 were reduced to 

accommodate the planned receipt of data from Viking Lander 2. 

On September 3, 1976, Viking Lander 2 successfully landed on the Utopia 

Planitia of Mars (47.9660 N., 225.7360 W.), more than 6500 km northeast of 

Lander 1 (Mayo et aI, 1977). Lander 2 faces approximately north and tilts 

8.20 downward in the direction of 277.440 clockwise from north. The viewing 

direction of its cameras when pointed in a direction normal to the front of 

the lander is 29.08+1-.790 clockwise from north along the horizon. The 

cameras on Viking Lander 2 operated successfully for 61 days until the primary 

mission of both landers was completed on November 15, 1976, at solar 

conjunction. 

During the primary mission, 454 pictures of the Martian surface were 

processed from Viking Lander 1 data and 582 pictures from Viking Lander 2 

data. The extended mission of Viking began December 15, after solar 

conjunction, and ended in June 1978. During this period, an additional 1636 

pictures were obtained from Lander 1 data and 1311 pictures from Lander 2 

data. A description of the Viking primary mission and the results of eight 

scientific experiments on board the landers were published in the Journal of 

Geophysical Research, 1978, v. 82, no. 28; some papers are listed in Section 

V, References. 

* Latitudes are areographic. See de Vaucouleurs et al (1973). 

The lander locations are those given by Davies et al (1978). For 

a discussion of the lander orientation see section II.A. 
II. THE MOSAICS 

A. General Discussion 

During the Viking Mission, the Lander Camera System acquired many highresolution images of the scenes at Chryse Planitia and Utopia Planitia landing 

sites. Using individual camera events, which occurred on many days throughout 

the mission ,computer mosaics have been created for both sites as viewed by 

each of the two cameras on the spacecraft. 

For Lander 1, two sets of mosaics have been produced; one pair for camera 

1 and 2 images acquired early in the morning (7:00-8:00), and one pair for 

images acquired in the mid-afternoon (14:00-15:30). For Lander 2, three sets 

of mosaics were compiled: in the morning (7:00-8:00), around noon, and in the 

early evening (17:00-18:00). Thus a total of ten mosaics have been generated. 

The general procedures for processing the Viking Lander Camera data are 

described by Levinthal et al (1977). The purpose of this description of the 

mosaicking process is to provide, to the users of the mosaics, sufficient 

understanding of the processing so that they will be able to correctly 

interpret the scenes. . 

The individual camera events that were incorporated into each mosaic are 

identified in the tables in section II.C •• The detailed description of each 

such event, including a reproduction of ·its image, are given by Tucker (1978) 

in the Picture Catalog Data Record (EDR). (This pUblication covers Camera 

Events 12A001 through 128198 for VL-1, and 22A001 through 21C070 for VL-2.) 

The Lander Camera system (Huck et aI, 1975) incorporates twelve command 

selectable photo-sensors in each camera [see p. 5-8, Tucker (1978), for a 

brief description]. Four diodes (881, 882, 883, 884), with an instantaneous 

field of view of 0.040 are at different distances from the lens, allowing 

optimization of focus selection (1.9, 2.7, 4.5 and 13.3 m respectively). This 

results in an overall depth of field from 1.2 m to infinity. Almost all the 

events used for mosaicking were acquired by those diodes. One diode (survey) 

with a 0.120 aperture was used for black-and-white panoramas. In a few cases 

data from this diode was used where no high resolution data was acquired. 

Otherwise all the mosaic image data was acquired using the 0.040 aperture 

diode. 

Each complete mosaicked scene extends 342.50 in azimuth, and from 

approximately 50 above the horizon to 600 below. A complete mosaic 

incorporates approximately 15 million picture elements (pixels). In order to 

manage the processing of such large data bases, each mosaic was compiled from 

four individual azimuthal sectors. (These are referred to as quadrants in some 

of the photoproducts.) 

The mosaic negatives have been made on an Optronics Photowriter (Model P1500) in two forms. In one case, using a 25 micron spot size, the complete 

four sectors of a single mosaic are contained on a single 8 X 10 inch 

negative. In the second case, three products are made using a 50 micron spot 

2 
size. They cover sectors 1 and 2, 2 and 3, and 3 and 4 

of three 8 X 10 inch negatives. The azimuthal coverage 

follows: 

Sector CACCS* LACCS** 

Azimuth Start Azimuth 

limits (Camera 1) 

00 _900 279.5° 

2 84° -1740 3.50 

3 168° -2580 87.50 

4 2520 -3420 171.50 

*CACCS - Camera aligned camera coordinate system 

**LACCS - Lander aligned camera coordinate system 

respectively on each 

for each sector is as 

LACCS** 

Start Azimuth 

(Camera 2) 

95.50 

179.5° 

263.50 

347.50 

Figure 1 [from Tucker (1978)] describes the coordinate systems and the 

lander orientations. The orientations shown in this figure are those based on 

calculations made by the Lander Performance Analysis Group (LPAG). These are 

derived from pre-launch calibration of the Inertial Reference Unit. These 

values were used in the preparation of the mosaics and all the ranging 

activities. Later calculations, based on analysis of entry data by LPAG were 

published in a report (Final Report: "Entry Data Analysis for Viking Landers 1 

and 2", Martin Marietta Corp., Denver, Colo., NASA TN-377-0218, Nov. 1976). 

Subsequently errors in those calculations were discovered. The values given 

for the Lander orientations in Section I, Introduction, and in the text 

associated with the lithographic mosaic products, are from a private 

communication, May 15, 1980, from K.W. Villyard, Martin Marietta Aerospace, 

Cape Canaveral, Florida, who was the author of the relevant section of the 

above referenced report. These values differ slightly from those shown in 

Figure 1. 

Because the spacecraft are both tilted with respect to the horizon, there 

is no simple correspondence between the azimuth angles for individual camera 

events, as shown in the EDR, and the azimuth angles provided on the border of 

the complete mosaics. The azimuth angles shown on the top border of the 

mosaic products are measured approximately from north (see Section II.B.3. for 

details) • 

B. Methodology 

1. General Mosaicking Technique 

The creation of the Viking Lander high resolution mosaics can be 

3 
separated into the steps of selection, preparation, mosaicking, and 

photometric correction. The selection process focuses on the Primary Mission 

Viking Lander EOR camera events. In some cases, Extended Mission camera 

events are included where primary mission coverage is absent or inadequate. 

This was often the result of obscurations caused by sampler arm activities. 

From images resulting from these camera events, sets of images from early 

morning, afternoon, and, in addition for Viking Lander 2, noon time frames are 

selected. A further selection criterion is that the range to the nominal 

surface plane at each elevation should be matched (as best as possib.le) with 

the diode which focuses closest to that range. (For example, the diode 

designated BB4 has its focus at 13.3 m and a depth of field permitting imaging 

at infinity. Thus an elevation command of zero degrees in the mosaic should 

be filled in with an image taken using the RR4 diode.) 

After a set of images for each camera and a time of day is selected, the 

preparation step is begun. Each image is radiometrically corrected (Huck et 

aI, 1975; Patterson et al,1977; Wolfe et aI, 1977) and differences caused by 

variations in gain and off-set settings are removed from each image in the 

set. In addition, a solar lighting correction (based on a model of a 

Lambertian surface; sine of incidence angle) is performed to remove minor time 

of day variations in the various images of the set. Next a geometric 

transformation (Patterson et aI, 1977; Wolfe, 1980) is performed on each 

image. This transformation is the combination of a camera geometry correction 

and a de-tilting of the image into a local Mars zenith system. (Both landers 

are tilted relative to a flat landing plane. Figure 1 describes the 

orientation of both Landers.) The transformed images are now aligned so that 

the horizon of the nominal surface plane will project into the image as a 

horizontal straight line. 

In the mosaicking step, all images compriSing a sector are combined into 

a single image. This process sometimes is preceded by an ad hoc contrast 

correction of some images (all of them being from the extended mission) for 

which the previously applied photometric correction alone was inadequate. The 

mosaicking process proceeds as follows. First, each image is assigned a 

priority. Then, for each picture element (pixel) the pixel ON value of the 

highest priority image is examined. If it is non-zero, then that value 

becomes the DN value of the pixel in the resultant image. Otherwise, the 

search continues through all pixels in the exact same position in order of 

decreasing priority until a non-zero ON value is found or until the picture 

list is exhausted (in which case the resultant ON value for that pixel becomes 

zero). 

After the mosaics have been generated, a general cleanup is performed. 

Processing artifacts (at image boundaries) and narrow gores (1-5 pixels wide) 

are removed from the mosaics by a process of averaging. Pixels bounding the 

artifact on a particular line are identified. The DN values of artifact 

pixels are repl~ced by the weighted average of the ON values of the two 

boundary pixels. The weight is the ratio of distance of the artifact pixel 

from a boundary pixel to the distance between boundary pixels. (This 

procedure is often referred to as linear interpolation.) Also, the surface 

sampler arm and housing are removed from the mosaics when they can be replaced 

by unobscured portions of low resolution images. This procedure is performed 

by setting a polygonal area of the mosaic to zero DN value. The corresponding 

4 
low resolution image is geometrically transformed to a high resolution format 

(and is detilted as well) and the high resolution mosaic and low resolution 

image are then mosaicked together with the low resolution image given lower 

priority. 

2. Photometric Corrections 

Following the above general procedures the solar lighting variations are 

removed from the scene. These variations are the result of the large changes 

in phase angle between the sun and camera over the azimuth range. The 

objective is to obtain an image for which ground material of similar albedo 

(i.e., reflectivity) and surface normal presents the same ON value regardless 

of its position in the scene. The solar lighting function is assumed to be a 

multiplicative function of detilted camera azimuth only. Although not a 

"true" photometric correction, this approximation is found to perform the 

desired correction within adequate ranges. An empirical approach to the 

determination of the function is taken. Test patches on the surface, which 

are flat and without large rocks or noticeable surface texture, are chosen in 

the four sectors of the mosaic at intervals of approximately every twenty 

degrees of azimuth. The average ON value of each test patch is determined. 

For test patch i, let the average ON value be ONi • Then each sample at the 

(detilted) azimuth of test patch i is multiplied by 128/0Ni to give the 

corrected ON value. The correction for pixels at azimuth value intermediate 

between test patch azimuths is calculated by linear interpolation (or 

extrapolation), using the nearest test patch correction values. After the four 

sectors have been corrected for solar lighting effects, they are mosaicked 

together in a manner analogous to that described above. 

3. Geometric Corrections 

The geometric transformation is carried out as part of the preparation 

step on each individual image. The camera geometric distortions may be 

separated into two types - optic path distortions and camera system 

distortions. The optic path distortions are those which affect a light ray 

after it passes the camera window, such as PSA rotation, PSA off-axis effect 

(coning distortion) etc. Camera system distortions (i.e., rotation and 

offset) relate to the way in which the cameras are mounted on the Lander. The 

geometric transformation that is performed in generating the mosaics includes 

a correction for the optic path distortions, and for the distortions due to 

the tilt of the lander spacecraft. It does not, however, correct for the 

distortions of the camera system related to its method of mounting, sometimes 

referred to as bolt-down errors. As a result, the mosaics retain a small error 

in azimuth and elevation values, relative to the values which appear in the 

fiducial annotations on the images. Along the horizon, the error in azimuth 

angle is equal to the bolt-down error for each camera to an accuracy small 

compared to a pixel. This has been taken into account in the lithographic 

products (Section II.O.2.) by an appropriate translation of the fiducial 

5 
markings that read "Azimuth Angles from Mars North". The residual errors are 

given in Table 1. HOwever these fiducial markings were not adjusted for boltdown error in the mosaic photoproducts (Section II.D.1.). For these products, 

a correction for the bolt-down error plus the residual error must be made. 

Unfortunately, for the Lander 1 versions of these same products, an additional 

error of scale was made. This requires that a further correction of 3.91 0 

must be made to get the correct reading of azimuth angle from Mars north. 

The residual error in azimuth angle changes with elevation angle and 

becomes more noticeably azimuth dependent for small elevation angles, a larger 

lander tilt and a large bolt-down error. For example, for Lander 2 camera 1, 

with a tilt of 8.20 and a bolt-down error of -.920 the residual error at an 

elevation angle of _600 and an azimuth angle of 900 is +.23 equal to 5.75 

pixels. This is the largest residual error of this type in the mosaics. 

Neglecting the bolt-down error is equivalent to having the cameras at a 

slight tilt with respect to the horizon. This gives a somewhat sinusoidal 

azimuth dependent residual elevation error throughout the mosaics. Table 1 

gives those errors. They are a maximum of 1 pixel for LAnder 1 camera 1 and 3 

pixels for Lander 2 camera 1 and less than one pixel for the other two 

cameras. 

The above calculations and Table 1 only take into account the errors in 

bolt-down due to rotation and not those due to cant or offset. These latter 

errors contribute a further error of about 1 pixel for each of the four 

cameras. 

6 
TABLE 1 

RESIDUAL ERRORS IN AZIMUTH AND ELEVATION ANGLES 

'-I I VI...JI III L"n .... "'1I ..... _ .... 

LANDER 1 Tilt = 30 @ 285.18 I LANDER 2 Tilt = 8.2 I 0 @ 

Camera 1 Camera 2 Camera 1 Camer

(Bolt-down error=-.85) (Bolt-down error=-.17) (Bolt-down (Bolt-down erro

.- AZIMUT 

ANGLE F 

MARS NO 

H Residual Azimuth Elev. . Resi dual Azimuth Elev Residual Azimuth Elev Residual Azimut

ROM Error for Elevation Error for Eleva- Error Error for Elevation Error Error Tor Eleva

RTH Angle = Angle ... Angle = Angle = 

-40 -20 a 60 -40 -20 a -40 -20 a -60 -40 -20 

a :02 :01 :00 .00 :04 :00 :00 :00 .00 :01 :02 :01 .00 .• 01 :13 :01 :00 .00 

30 .02 .01 .01 .00 :04 .00 .00 .00 .00 :01 .09 .05 .03 .01 :12 .02 .01 .01 

60 .05 .03 .01 .00 :03 .01 .01 .00 .00 :01 .19 .10 .05 .01 :08 .05 .02 .01 90 .08 .04 .02 .00 :01 .02 .01 .00 .00 .00 .23 .12 .06 .01 :02 .06 .03 .01 

- .•. 

120 .08 .04 .02 .00 .01 .01 .00 .00 .00 .22 .11 .05 .01 .05 .05 .03 .01 150 .06 .03 .01 .00 .03 .01 .01 .00 .00 .01 15 .08 .04 .01 .10 .04 .02 .01 

180 .02 .01 .01 .00 .04 .00 .00 .00 .00 .01 04 .02 .02 .01 .13 .01 .01 .00 

210 :02 :01 .00 .00 :04 :00 :00 :00 :01 :07 :03 :01 .01 .12- :02 :01 :00 

-

240 :05 :02 :01 .00 .03 :01 :01 :00 .00 .01 :17 :08 :03 .01 .• 08 :04 :02 :01 

270 :07 :03 :01 .00 .01 :01 :01 :00 .00 .00 :22 :10 :04 .01 .02 -05 :02 :01 

-

300 :07 :03 :01 .00 :01 :01 :01 :00 .00 :00 :20 :09 :04 .01 :05 05 :02 :01 

330 :-:'05 :03 :01 .00 .03 :01 :01 .00 :01 :13 :06 :02 .01 :10 ."OL . :01 :00 .. 

The correct values are arrived at by adding these calculations of residual error to the indicated values of Azimuth Angle From t1ars North and Elevation Angle taking into account 

" the sign of the error. Thus a,plus (+} indicates a clockwise correction to the azimuth angles. The photoproducts require both the correction for boltdown and the indicated 

residual error. For the Lander 1 photoproducts an additional correction of -3.910 must 

also be made. 
C. List of Camera Events Used in Mosaics 

The following lists identify the camera events used to create each sector 

of each mosaic in the order of decreasing priority. 

L1.C1.AM 

1 2 3 4 

11A154 11A154 11A156 11A156 

118051 11A129 11A129 11A157 

11A111 11A097 118022 11A158 

11A025 11A078 11A097 118064 

11A022 11 A023 

11A079 118129 

11A078 118052 

11 A048 11A022 

11B226 11801)3 

118226 

11B093 

118225 

118219 

118224 

11A097 

11C039 

118225 

L 1. C2.AM 

1 2 3 4 

12A 112 12A 116 12A125 128063 

128054 12A 112 12A155 12A125 

12A010 12A107 12A 116 12A 11 0 

128128 12A010 12A107 12A068 

12A059 12A108 128056 

12A124 12A003 

12A003 12B056 

128060 128055 

12A 116 128207 

12C04? 12A103 

12C043 12A124 

12C044 

128203 

L 1.Cl.PM 

1 2 3 4 

11A174 11A143 11A 132 118036 

11Al73 11A251 11A133 118037 

118073 11A250 11A137 11A017 

118229 11A174 118059 11Al14 

11A144 118050 11A141 

8 
11B050 11A051 11A030 

11B098 11A114 11A127 

118037 11B059 

11A 127 11A132 

11A143 11A051 

11A144 11A 137 

11A251 11B067 

11B220 11A132 

11 B223 11 B 120 

11B165 

11C033 

L1.C2.PM 

1 2 3 u 

12A119* 12A238 12A165 12A255 

12A140 12A211 12A164 12B016 

12A 119* 12A212 12A153 12BOOO 

12A136 12A153 12A238 12A235 

12A212 12A 119 12BOOO 12A165 

128227 12A152 12A211 128208 

12A 119* 12A140 12A152 128103 

12A002 12A136 128017 12A014 

12B017 12A235 12A043 

12A235 12A237 12C015 

* Camera Event 12A119 was used in various forms with and without the sampler 

arm ( by removing the arm and setting DN values to zero). This was done to 

get the best coverage of the scene in combination with other camera events 

used. The highest priority use was with the whole event without the sampler 

arm. The next priority use was the left-hand part of the event. The third 

priority use was the whole event, including the sampler arm. Similar 

techniques were used in other sectors. 

L2.C1.AM 

1 

218010 

218008 

21A204 

21C098 

2 

21A164 

218010 

21B054 

21B040 

21A076 

21A077 

3 

21A221 

218034 

21B021 

21A225 

21A222 

218033 

21B022 

4 

218009 

218001 

21B039 

21C036 

21A174 

218040 

218094 

218015 

21B093 

21C069 

21A079 

21A050 

21A077 

9 
L2.C2.AM 

1 

22A205 

228000 

22A236 

228002 

228199 

22A178 

228061 

228025 

22A097 

22A002 

L2. C1.Noon 

1 

21A237 

21A238 

21A125 

21A040 

L2.C2.Noon 

1 

228004 

228013 

228046 

228045 

228058 

228120 

22C202 

22C138 

22C160 

2?C162 

22A002 

L2.Cl.PM 

10 

1 

218213 

21A127 

21A134 

21A139 

21A023 

2 

22A176 

22A095 

22A205 

22A206 

22A178 

228061 

22A220 

22A236 

228000 

228231 

2 

21A237 

21A225 

21B034 

21A221 

21B021 

21C204 

2 

22A252 

22B013 

228057 

228058 

228012 

22A251 

228046 

22A002 

2 

21A139 

21A142 

21A150 

21A147 

21A128 

218059 

3 

22A206 

22A088 

22A223 

22A220 

228231 

22A106 

3 

22A221 

218034 

218021 

21A225 

21A222 

218033 

218022 

21C152 

3 

228003 

22A253 

22A252 

228012 

3 

21A147 

21A149 

21A075 

21A069 

218057 

21A044 

21A128 

21A052 

4 

22A027 

22A207 

22A223 

22A105 

4 

21A226 

21A222 

21B022 

21A225 

218035 

21B033 

218021 

21C153 

21C208 

4 

228003 

228056 

22A124 

228020 

22A002 

4 

21A168 

21A161 

21A151 

21A075 

21A111 

21A149 

218214 

21A032 
L2.C2.PM 

1 

22A 118 

22A255 

22A143 

22AO 11 

22A046 

22A121 

228091 

22A005 

228212 

228014 

22B215 

22A002 

2 

22A14R 

22A143 

22A011 

22A163 

22A005 

22A103 

22A 119 

22B215 

22B091 

22C178 

21A 110 

21A031 

21A132 

3 

22A140 

22A141 

22A104 

22A148 

22A 119 

22B090 

D. The Final Mosaic Products 

1. Photoproducts 

21A044 

21A216 

218060 

4 

22A140 

22A135 

22A133 

22B211 

The mosaic negatives have the following general form. At the top and 

bottom of the image is a 16 step gray scale. Beneath the gray scale at the 

top of the image are two sets of rulings. The upper one is labeled 'az' and 

specifies the local Mars azimuth of the scene clockwise from north(see Section 

II.B.3. for a discussion of the errors). Beneath this scale is a scale 

labeled IPL sample no. An identical scale is beneath the image. This refers 

to the sample number in the digital image data set. The IPL saMple no. 

increases from left to right. To the left of the image are two sets of 

scales. The leftmost of these is labeled 'EL' and specifies the elevation of 

the detilted image. To the right of this scale is a scale labeled IPL line 

no. An identical scale appears to the right of the image. This refers to 

lines of data or data records in the data set. The IPL line no. increases in 

the downward direction. The pixel in the upper left corner has the IPL 

coordinate ( 1,1 ). 

Beneath the image, two sets of annotation appear. The smaller annotation 

refers to a specific image in the collection which was used to generate the 

mosaic. This annotation is of no interest to the general user. The larger 

annotation is a block of the form: 

HIGH RESOLUTION MOSAIC 

IPL PIC ID 77/10/21/012442 

L1.C2.AM.Q1+Q2+Q3+Q4 

11 
The term "HIGH RESOLUTION MOSAIC" describes the type of product. The 

Image Processing Laboratory Picture Identifier (IPL PIC ID) is expressed as 

the date of creation on the computer (YY/HM/DD/HHMMSS). The last line 

identifies the individual product in a more descriptive terminology--in this 

case Lander 1 (L1), Camera 2 (C2), morning (AM), and four sectors are 

contained on the photoproduct (Q1+Q2+03+Q4). (Note: In the case of these 

photoproducts the word quadrant is used instead of sector. ) The IPL PIC ID is 

a designator used to uniquely identify a photoproduct generated in IPL. All 

inquiries concerning a print should include the IPL PIC ID designator. Figure 

2 illustrates this product. 

Two sector mosaics consist of the three combinations Q1+Q2, Q2+03, and 

03+04. The various combinations of landers (2), cameras (2), times of day (2 

for VL-1, 3 for VL-2) , and sectors result in a total of 40 individual 

photoproducts. The IPL PIC ID's for the available products are summarized in 

Table 2. Figures 3 and 4 are illustrations of the two sector mosaics. 

TABLE 2 

HIGH RESOLUTION MOSAICS 

IPL PIC IDs 

01+Q2 Q2+03 Q3+04 Q1+Q2+03+04 

L1C1 AM 77/10/20/194103 77/10/20/200106 77/10/20/201659 77/10/24/210928 

L1C2 AM 77/10/111195106 77/10/11/200426 77/10/11/201443 77/10/21/012442 

L1C1 PM 77/121031001934 77/12/03/003600 77/12/03/005146 77/121051231630 

L1C2 PM 77/10/27/002228 77/10/27/003331 77/10/27/004429 77/10/26/230247 

L2C1 AH 77/10/25/200033 77/10/201003550 77/10/20/004849 77/10/22/041946 

L2C2 AM 77/10/08/071542 77/10108/072731 771101081074330 77/10/21/194644 

L2C1 N 77/10/13/203604 78/01/14/162816 77/10/13/205527 771101211003131 

L2C2 N 77/10/11/203346 77/10/11/204252 77/10/11/205239 78/01/23/203555 

L2C1 PH 77/10/10/210627 77/1 0/1 0/211805 77/10/10/213201 771101221022809 

L2C2 PM 77/10/12/214621 77/10/12/220159 77/10/12/221152 77/10/22/055641 

12 
2. Lithographic Products 

The United States Geological Survey (USGS) is producing a set of fifty 

lithographic sheets approximately 30 x 40 inch each derived from first 

generation negatives. For each of the mosaics there will be a set of five 

sheets consisting of four single sheets for each sector and a fifth sheet with 

the complete mosaic with an image 8 inches high and 38 inches long. The onesector sheets, each with an image 24 inches high by 30 inches wide, assembled 

together would thus make a mosaic two feet high by ten feet wide. A standard 

procedure for making the lithographs is used with a screen of 130 lines/inch. 

Each single sector lithographic product has two sets of fiducial scales 

bordering the image. One gives the azimuth angle from Mars north and the 

elevation angle relative to the nominal horizon (see Section II.B.3. for a 

discussion of the errors). The second set gives the IPL line and sample 

number. This refers to the picture element or pixel in the digital data set 

used to generate the negative from which the particular sheet was produced. 

This allows reference to the image line record on the appropriate 800 bpi tape 

described in the following section. 

In addition to text describing some general aspects of the Viking 

mission, the methodology of producing the mosaics, and providing a geological 

description of some of the important features of the scene, each sheet 

contains three small images. One gives a schematic overhead view of the 

spacecraft showing its orientation and that of the sectors with respect to 

Mars north. This image is overlain with camera elevation angles and a grid in 

spacecraft coordinates. The second image is a skyline drawing giving the 

geometry of a complete view of the scene and spacecraft as viewed by the 

appropriate camera. The coordinates of the superimposed grid are camera 

control azimuth and elevation. On the skyline drawing are also the 

"footprints" of the individual camera events used to construct the mosaic. 

This permits referencing the EDR and TDR (see section IV.A.) photoproducts 

covering any part of the mosaic scene. To assist this cross-referencing a 

third image is provided. This is a reduced image of the complete four-sector 

mosaic. On this image is the camera control azimuth and elevation grid 

distorted by the same computer program that removed the horizon tilt in 

producing the rectified mosaics. A second set of horizontal fiducial markings 

giving azimuth angles from Mars north permits referencing back to the large 

image of the mosaic sector. This reduced image gives the t ... idth and distance 

from the spacecraft of some rocks labelled in the scene. 

The sector 1 sheet covers line 170 to 2290 from the sector 1 and 2 800 

bpi digital tape, the sector two sheet lines 2200 to 4320 from this same tape. 

The sector 3 sheet and sector 4 sheet cover lines 40 to 2160 and 2070 to 4190 

respectively from the sector 3 and 4 800 bpi tape. There are approximately 90 

lines of overlap· of the scene between adjacent sector images. 

The fifth sheet for each mosaic has two 8 inch high by 38 inch images of 

the complete mosaicked scene. One is bordered by IPL line and sample numbers 

that reference the four-sector 1600 bpi digital tape for that mosaic. The 

second serves the same purpose as the reduced image in the single sector 

13 
sheets, glvlng the relationship between rectified camera control coordinates 

and azimtuh angles from Mars north. It also identifies the distance and size 

of rocks in the scene. Besides the text, overhead view, and skyline drawing 

described above, these sheets have two other images of interest. One is a 7 

inch diameter image of a polar stereographic projection of the mosaic. This 

is the "donut" ~ojection described in section III. A. below. A second is an 

image acquired by the Viking Orbiter cameras showing the location of the 

Viking Lander. 

3. Magnetic Tapes 

The mosaic data sets are stored in digital form on a series of magnetic 

tapes. The tapes are recorded on 9 track tape drives. Each image is stored 

as a separate file. Every file begins with a variable number of label records 

followed by the actual image. Each label record is 360 bytes in length, and 

is comprised of 5 logical labels of 72 bytes each. The last byte (byte 72) of 

each logical label consists of an EBCDIC character, either 'C' or 'L'. A 'C' 

indicates that another logical label follows, while an 'L' indicates that this 

is the last logical label. If the last label record contains fewer than 360 

bytes, it is padded on the right. The label records contain EBCDIC information 

which is formatted and displayed at the bottom of a masked print of the image. 

The first logical label of the first label record contains information 

relating to the size of the image. Bytes 33-36 contain a four character right 

adjusted EBCDIC format integer which specifies the number of lines in the 

image. Bytes 37-40 similarly contains a number which specifies the number of 

picture elements per image line. A more detailed explanation of the label 

format is given by Tucker (1978). 

The image is stored following the label records. Each image line is 

stored as one record. The data is available either recorded at 800 BPI or 

1600 BPI. The 800 BPI tapes each contain one two-sector mosaic (either sectors 

01 and Q2, 02 and- 03, or 03 and Q4) with record lengths equal to 4350 bytes 

and 1852 records (not including the label records). The 1600 BPI tapes each 

contain a complete mosaic of four sectors (Q1 + 02 + Q3 + 04) with record 

lengths equal to 8650 bytes and 1852 records for the imagery data. Table 3, 

which follows is a list of available tapes. This list also includes the 20 

tapes containing the Standard VLStereo data sets described in Section III.B. 

below. 

14 
TABLE 3 

TAPE LIST 

MOSAICS 

Tape Number Contents Density ( BPI) 

DNS 001 L1.C1.AM.Q1 + Q2 800 

DNS 002 L1.C1.AM.Q2 + Q3 800 

DNS 003 L 1. C 1 • AM • Q3 + 0.4 800 

DNS 004 L1.C2.AM.Q1 + Q2 800 

DNS 005 L1.C2.AM.02 + Q3 800 

DNS 006 L1.C2.AM.Q3 + 04 800 

DNS 007 L1.C1.PM.Q1 + Q2 800 

DNS 008 L1.C1.PM.Q2 + Q3 800 

DNS 009 L1.C1.PH.Q3 + Q4 800 

DNS 010 L1.C2.P.M.Q1 + 0.2 800 

DNS 011 L1.C2.PM.02 + 03 800 

DNS 012 L1.C2.PM.Q3 + 0.4 800 

FNS 001 L2.C1.AM.01 + 0.2 800 

FNS 002 L2.C1.AM.02 + Q3 800 

FNS 003 L2.C1.AM.Q3 + Q4 800 

FNS 004 L2.C2.AM.Q1 + 02 800 

FNS 005 L2.C2.AM.02 + Q3 800 

FNS 006 L2.C2.AM.Q3 + 04 800 

FNS 007 L2.C1.NOON.Q1 + 0.2 800 

FNS 008 L2.C1.NOON.Q2 + Q3 800 

FNS 009 L2.C1.NOON.Q3 + 0.4 BOO 

FNS 010 L2.C2.NOON.Q1 + Q2 800 

FNS 011 L2.C2.NOON.02 + Q3 800 

FNS 012 L2.C2.NOON.03 + Q4 800 

FNS 013 L2.C1.PM.O.1 + Q2 800 

FNS 014 L2.C1.PM.Q2 + Q3 800 

FNS 015 L2.C1.PM.Q3 + 04 800 

FNS 016 L2.C2.PM.Q1 + 0.2 800 

FNS 017 L2.C2.PM.O.2 + 03 800 

FNS 018 L2.C2.PM.03 + Q4 800 

DNS 013 L1.C1.AM.Q1 + Q2 + Q3 + 04 1600 

DNS 014 L1.C2.AM.Q1 + Q2 + Q3 + Q4 1600 

DNS 015 L1.C1.PM.Q1 + Q2 + 0.3 + 04 1600 

DNS 016 L1.C2.PM.01 + Q2 + 03 + Q4 1600 

FNS 019 L2.C1.AM.Q1 + Q2 + Q3 + Q4 1600 

FNS 020 L2.C2.AM.01 + 02 + Q3 + Q4 1600 

FNS 021 L2.C1.NOON.Q1 + Q2 + 0.3 + Q4 1600 

FNS 022 L2.C2.NOON.Q1 + Q2 + Q3 + Q4 1600 

FNS 023 L2.C1.PM.01 + 0.2 + Q3 + Q4 1600 

FNS 024 L2.C2.PM.Q1 + Q2 + 03 + 04 1600 

15 
DNM 001 

DNM 002 

DNH 003 

DNM 004 

DNM 005 

DNM 006 

DNM 007 

DNM 008 

FNM 001 

FNM 002 

FNH 003 

FNM 004 

FNM 005 

FNH 006 

FNM 007 

FNM 008 

FNM 009 

FNM 010 

FNM 011 

FNM 012 

STANDARD VLSTEREO 

Ll.C1.AM. FRONT 

Ll.C2.AM. FRONT 

L1.C1.AM. BACK 

L 1. C2.AM. BACK 

Ll.Cl.PM. FRONT 

L1.C2.PM. FRONT 

L 1. C1. PM. BACK 

L 1. C2. PM. RACK 

L2. Cl.AM. BACK 

L2.C1.AM. FRONT 

L2.C2.AM. FRONT 

L2.C2.AM. BACK 

L2.Cl.NOON. BACK 

L2.Cl.NOON. FRONT 

L2.C2.NOON. FRONT 

L2.C2.NOON. BACK 

L2. C1. PM. BACK 

L2. C1. PM. FRONT 

L2.C2.PM. FRONT 

L2.C2.PM. BACK 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

1600 

The first 0 (zero) in the number following either DNS. FNS.DNM or FNM is 

replaced by a number 0 to 9. indicating the copy number. D indicates that the 

contents refer to Lander 1 and F to Lander 2. N means that the data source 

from which the image is derived is the EDR (EnQ;ineering Data Record). 

16 
III. Derived Products 

A. "Donut" Projections 

The term "donut" was an informal name that seemed such an appropriate 

descriptor that the term remained. Actually, the transformation is a polar 

stereographic projection centered around a vertical line from the camera to 

the surface as referenced through the approximate nodal point of the camera. 

The horizon becomes the gOO circle in the stereographic projection. The 

result is that the horizon seems to wrap around in a circle. The final 

product is quite useful for determining relative and actual compass directions 

between objects. North is at the top in all products. Since the cameras can 

only image down to _600 a hole remains in the center that cannot be filled, 

thus the term "donut". 

A polar-type projection was chosen so that compass angles would be 

preserved. A stereographic projection was chosen since it restores the proper 

vertical-to-horizontal aspect ration of all objects in the field of view. 

Camera azimuth remains unchanged except for an orientation relative to north. 

Camera elevation is transformed into radius. However, the scale at each 

radius in the projection is different. If the latter were to be preserved, 

the images must be mapped using a gnomonic projection, producing an aerial 

view of the lander site (see description of orthographic projections, Section 

III. D.). 

The input dataset for each "donut" was the four-sector high-resolution 

mosaic. In order to accomplish the transformation in a finite amount of 

computer time, the mosaic dataset was subsampled by a factor of three, both in 

the horizontal and vertical directions. 

Each photoproduct is labelled at the bottom with an annotation block of 

the format: 

HIGH RESOLUTION DONUT PROJECTION 

IPL PIC ID 78/01/03/185404 

L1. C1. AM 

The term "HIGH RESOLUTION DONUT PROJECTION" identifies the product type. 

The Image Processing Laboratory Picture Identifier (IPL PIC ID) is expressed 

as the date of creation on the computer (YY/MM/DD/HHMMSS). The last line 

describes the high-resolution mosaic dataset from which the donut was made: 

Lander 1 (L1), camera 1 (C1), morning (AM). Figure 5 illust~ates this 

product. 

The IPL PIC ID's for these products are summarized in Table 4. 

17 
TABLE 4 

"DONUT" PROJECTIONS 

IPL PIC IDs 

TIME OF 

SPACECRAFT DAY CAMERA 1 CAMERA 2 

VL-1 A. M. 78/01/03/185404 78/01/03/185533 

VL-1 P.M. 78/01/27/105201 78/01/27/105536 

VL-2 A.M. 78/01/14/031941 78/01/14/040855 

VL-2 Noon 78/01/16/204108 78/01/14/054523 

VL-2 P.M. 78/01/09/205946 78/01/13/220654 

B. Stereoscopic Projections 

1. General Discussion 

The three dimensionality or relief of a scene is conveyed to a viewer 

because each eye sees the same object from a different perspective. The two 

different retinal images are conveyed to the brain where they are "fused" to 

synthesize a three-dimensional or stereo image. The equivalent effect can be 

achieved by presenting the viewer wi th a pair of photographs of the same scene 

taken from different positions. Such a pair would be known as a "stereo 

pair". Stereo is a standard tool used by geologists to qualitatively and 

quantitatively investigate surfaces of interest, capturing the information by 

photography. 

The two cameras on each of the Viking spacecraft are separated by 0.813 

meters. Such a large separation allows more accurate determinations of range 

and position of points on the surface than a smaller camera separation would 

allow. A more familiar example would be a rangefinder as employed by military 

observers. 

There are many ways of viewing stereo pairs. For image pairs where the 

width of each image is about 65 mm, namely the interocular separation, there 

are many inexpensive stereo viewing arrangements. The old fashion hand-held 

stereopticon and its modern counterparts serve this purpose. There are also 

many inexpensive pocket stereoscopes. In addition there is the method of 

free-fusion which requires no special viewing equipment. For free-fusion the 

images are held at normal reading distance, wearing reading glasses if 

orrlinarily required. The images are aligned horizontally so that common 

points in both images are aligned parallel to a line joining the viewer's 

eyes. The idea is then to allow vision convergence to relax so that double 

images are seen. This occurs Hhen the left eye is directed and focused on the 

left member of the pair and the right eye on the right member. When the 

images pairs are small enough, the stereo image pair can be put directly in 

18 
front of the viewer's eyes so they are directed as if they were looking at a 

distant horizon. When the images are larger and the common points of interest 

in the pair are further apart then the interocular separation, the viewer's 

eyes must go "wall-eyed". This is not impossible but it is difficult for the 

untrained viewer. Some prefer to reverse the images so that the left image is 

on the right-hand side and the right image on the left-hand side. In this 

case they are viewed "cross-eyed". Figures 13 and 14 provide two image pairs 

which can be used for free-fusion. 

There are many standard stereoscopes designed to permit the viewing of 

the larger images. Many arrangements of prisms and mirrors will permit one 

eye to only see one image of the pair while the other eye sees only the other. 

Two stereoscopes used by the imaging team members are the Kail Model K-10 

Precision Mirror Stereoscope and the ODSSIII (Old Delft) Scanning Stereoscope. 

Unfortunately, the wide baseline or separation of the Viking cameras has 

the disadvantage of producing pairs of images that are impossible to "fuse" 

visually. The major constraints on achieving stereo fusion are: 

a) The images must be related in their content. 

b) Each corresponding point in the left and right images 

must be horizontally positioned. 

c) The scale at corresponding points in the image pairs 

must be the same. 

The first constraint merely means that it is not possible to fuse images 

of completely different subjects. The second means that the images cannot be 

tilted or misaligned. The third means that one image cannot be larger or 

smaller than the other-. (Actually, experiments have shown that there is a 

certain degree of tolerance in each of these constraints that can be allowed 

without destroying one's ability to achieve fusion.) 

Unfortunately, the high-resolution mosaics violate all three of the above 

criteria. Parts of the spacecraft block the scene from one camera and not 

from the other. The cameras are far enough apart so that objects off to one 

side of the spacecraft as seen by one camera are vertically misaligned with 

respect to the same objects as seen by the other camera. Additionally, objects 

to the side of the spacecraft appear either larger or smaller than as viewed 

by the other camera. Although it is not possible to fill in the areas which 

the cameras can't image, it is possible to generate a computer program that 

can "rubber-stretch" the images so that the last two criteria are achieved. 

This rubber-stretch algorithm assumes a flat nominal surface at the landing 

site and does not use true point-by-point topographic information. (Although 

it is theoretically possible to produce such a refined product, the expense in 

time and dollars was not practical.) However, the rubber-stretch approach is 

qualitatively informative, and the procedure accomplishes its primary purpose 

allowing stereoscopic fusion of the lander images. 

A computer program, called VLSTEREO was developed to supply the necessary 

tiepoint information to the rubber-stretch program. In doing so, it was 

19 
quickly found that, by a judicious choice of parameters, an entire family of 

transformations were possible, each of which not only allowed stereoscopic 

fusion but also emphasized certain topographic characteristics of the scene. 

The major two transformations that appeared most useful were "changing" the 

apparent intercamera separation and "lifting" the camera higher above the 

surface. In both cases, the visual results are quite startling. 

Before describing the actual operation of VLSTEREO, it is desirable to 

try the following exercise with the imaging pairs. The descriptions of the 

parameters in VLSTEREO will then make more sense. 

1) ~tereoscopically view a pair of high-resolution mosaics. 

L1.C1.AH.Q3+Q4 (left - IPL PIC ID 77/10/20/201659) (Figure 3) and 

L1.C2.AH.Q1+02 (right - IPL PIC ID 77/10/11/195106) (Figure 4) is a good 

example. While stereo fusion is easy at the horizon and straight down the 

center of the image, the lower left and lower right corners are quite 

difficult without repositioning the prints. 

2) Stereoscopically view a pair of "STANDARD VLSTEREO" images. The same 

scene as above may be found as IPL PIC ID 78/10/19/171012 (left) (Figure 6) 

and 78/10/19/175118 (right) (Figure 7). The scene is now viewable 

stereoscopically over the entire common field of view. A comparison to the 

high-resolution mosaics above shows how the scene has been distorted. 

However, there is still a considerable amount of "depth" between foreground 

and background in these images so that many people still have problems 

achieving stereo fusion. 

3) Substitute one of the "SPECIAL VLSTEREO" images with the apparent 

camera separation (CAMSEP) = 0 , IPL PIC ID 78/10/10/185301 (Figure 8), for 

the left image (171012) only. This, combined with the right side image above, 

has the effect of reducing the intercamera baseline by 50% (see discussion of 

CAMSEP Parameters in following section). The result should seem much easier to 

fuse than in the previous example. 

4) Now substitute IPL PIC ID 78/09/08/113258 (Figure 9) also with CAMSEP 

= n for the right image (175118) of the above pair; this new pair reduces the 

apparent intercamera baseline to zero. In the foreground, subtle topographic 

information is emphasized. In the background, the result is rather confusing 

since one is viewing the surface at an oblique angle. 

5) To understand the way the transformation works, put two right eye 

images under a stereoscope at once - specifically 78/09/08/113258 and 

78/10/19/175118. vlliat one should see is a slanting surface corresponding to 

the nominal plane which is being distorted by the transformation within 

VLSTEREO. The rocks themselves appear to be a flat image tilted at an angle. 

The effect of changing the intercamera baseline is to subtract this "biasing" 

of the scene, leaving only the variations from this slanted plane and not the 

plane itself. 

6) In reality, the apparent baseline of the lander's cameras changes as a 

function of the pointing direction. The apparent baseline is zero only along 

a line running through the nodal points of the two cameras. The apparent 

baseline is a maximum (0.813 meters) only along a line bisecting the two 

20 
cameras and running along the surface directly in front or behind the 

spacecraft. For this reason, an additional transformation (NaDEL) was created 

to preserve the apparent separation as a function of viewing azimuth. These 

"SPECIAL VLSTEREO" products are labelled "UNCORRECTED FOR CHANGING APPARENT 

CAMERA SEPARATION WITH AZIMUTH". IPL PIC ID 79/02/07/000423 (left) and 

78/08/12/114001 (right) shows a pair of such products (Figures 10 and 11 

respectively) . 

7) As before, the palrlng of two camera 1 images illustrates the effect 

of the transformation being employed. If the right image above (114001) is 

replaced by 78/10/10/185301, the deeply bowed surface is clearly seen. This 

illustrates the effect of the changing baseline as seen on the nominal plane. 

This also illustrates an additional prohlem--what should be done at the 

horizon since the geometry degenerates at that. position. What was decided was 

to "hinge" the horizon, essentially continuing the scene from below the 

horizon without distorting it horizontally. While this hinge effect is 

clearly seen in this example, it is difficult to detect in true left/right 

pairs. It is an artificial constraint and should thus be kept in mind when 

viewing objects above the horizon level surface. 

8) The final type of product was found by accident. In an additional 

attempt to alter the apparent amount of stereo in the scene, and thus make the 

images easier to view, it was thought that "lifting" the spacecraft off the 

surface might work (HEIGHT and ALPHA parameters). The side effects of this 

transformation were unanticipated, but the resulting product is the most 

successful in emphasizing the topographic nature of the Martian terrain. IPL 

PIC ID 78/08/27/010209 (left) and 78/08/06/222439 (right) are the most 

spectacular examples (Figures 12 and 13 respectively). These "SPECIAL STEREO" 

products are labelled "APPARENT CAMERA HEIGHT 4.024 SLANT 60.0." 

2. Operation of VLSTEREO 

Basically, the program VLSTEREO references each point in an image to a 

set of lines extending radially away from a point on the nominal surface 

positioned halfway between the two cameras. This reference line is taken to 

be that radial line which is perpendicular to the line bisecting the two 

cameras--that is, straight away from the lander between the two cameras. As 

seen in an image from either camera, such a line drawn on the surface would 

appear to be curved, bending either to the left or right in the near field 

depending on whether it is the right or left camera, repectively. (Note: when 

looking in front of the lander, Camera 1 is left and Camera 2 is right; behind 

the lander, Camera 2 is left and Camera 1 is right.) VLSTEREO relates all 

other lines radiating from the point between the cameras to this reference 

line. In doing ·so, the problems of nonvertical disparity and non-uniform 

scale are removed. 

In all products labelled "STANDARD VLSTEREO," all rad ial lines described 

above are forced to be "parallel" to the reference line, and the intercamera 

baseline of 0.813 meters is preserved across the scene. The other 

transformations illustrated above are accomplished by changing the shape of 

21 
the reference line. There were four variables that were used to generate the 

stereoscopic databases. Other options were written into the program, but were 

not used. 

The parameter CAMSEP allows one to change the apparent intercamera 

separation. The normal was CAMSEP = 1.0 (corresponding to 0.813 meter.) In 

the case where CAMSEP = 0.0, the reference line no longer curves, but instead 

becomes a straight vertical line when viewed in the images. All other radial 

lines extending from the point on the surface halfway between the two cameras 

would appear as vertical straight lines. The parameter NODEL allows the 

intercamera separation to vary from its maximum of CAMSEP = 1.0 straight out 

from the lander to CAMSEP = 0.0 at either side of the lander following a 

simple cosine function. The two parameters HEIGHT and ALPHA are used to 

reposition the lander at any point in space above or behind the normal 

position. The defaults are HEIGHT = 1.0 (corresponding to 1.3 meters above a 

nominal landing surface) and ALPHA = 45.00 (which has no effect if HEIGHT = 

1.0). Increasing the HEIGHT parameter raises the lander by the appropriate 

factor. ALPHA of 900 would mean straight uP: ALPHA of any other angle means a 

lower angle backwards from the original position. These parameters were 

required for even the STANDARD VLSTEREO products above, necessitated by the 

original tilt of the spacecraft and subsequent difference between the height 

of the two cameras above the surface. Even a small tilt of 30 for VL-l and 80 

for VL-2. after the detilting process in preparing the high-resolution mosaic 

datasets, caused a disparity in objects between left and right images. The 

HEIGHT parameter used to compensate for this vertical offset between the 

cameras is as follows: 

VL-l, camera 

VL-2, camera 

(HEIGHT = 1.008), camera 2 (HEIGHT = 1.024): 

(HEIGHT = 1.057), camera 2 (HEIGHT = 0.971). 

3. The VL Stereo Products 

a. Standard VLSTEREO 

The high-resolution mosaic data sets have been processed through VLSTEREO 

in the "optimum" mode to produce twenty separate photoproducts (10 pairs). 

Individual pairs exist for all of the times of day included in the mosaics. 

A photoproduct pair is labelled with large-type descriptors with the 

following formats: 

22 

STANDARD VLSTEREO 

Ll.Cl.AM.Q3+Q4 (FRONT - LEFT EYE) 

IPL PIC ID 78/10/19/171012 

STANDARD VLSTEREO 

Ll.C2.AM.QI+Q2 (FRONT - RIGHT EYE) 

IPL PIC ID 78/10/19/175118 
The term "STANDARD VLSTEREO" describes the type of photoproduct. 

"L1.C1.AM.Q3+Q4" refers to the high-resolution mosaic from which this image 

was created. "FRONT" (or "BACK") refers to the front or back of the lander. 

"LEFT EYE" (or "RIGHT EYE") tells which eye should view the image. The Image 

Processing Laboratory picture identifier (IPL PIC ID) is expressed as the date 

of creation on the computer (YY/MI1/DD/HHI-lI-lSS). See Figures 6 and 7. 

In the example above, the image pair is identified by matching up the 

lander (L 1), time of day (AN), front or back of the lander (FRONT). The left 

and right eye information is redundant and is supplied only for convenience. 

Other pairs are similarly identified. 

A complete summary of the IPL PIC ID's for these stereoscopic products is 

provided in Table 5. The STANDARD VLSTEREO data sets are also stored in 

digital form on a series of magnetic tapes. These tape numbers are included 

in Table 3. 

b. Special VLSTEREO 

The high-resolution mosaics have been processed through VLSTEREO in 

various modes that emphasize or enhance certain topographic characteristics of 

the scene. Twenty (20) separate photoproducts (10 pairs) have been produced 

in this way. 

Each photoproduct is labelled with a large-type descriptor in the format: 

SPECIAL VLSTEREO 

L1.C1.AM.Q3+Q4 (FRONT - LEFT EYE) 

IPL PIC ID 78/08/12/114001 

UNCORRECTED FOR CHANGING APPARENT CAMERA SEPARATION WITH AZHIUTH 

The term "SPECIAL VLSTEREO" identifies the type of product. The term 

"L1.C1.AM.Q3+Q4" refers to the high-resolution mosaic from which the image was 

created. "FRONT" (or "BACK") refers to the front of the lander (or back of 

the lander). "LEFT EYEII (or IIRIGHT EYE") tells which eye should view the 

image. The Image Processing Laboratory picture identifier (IPL PIC ID) is 

expressed as the date of creation on the computer (YY/MM/DD/HHMMSS). 

There are three special transformations used in preparing these 

photoproducts. These are distinguished by the last phase in the descriptor. 

In the above example, the NODEL parameter has been used and this product is 

sometimes referred to by this name. The other two alternative descriptors are 

IIAPPARENT CAMERA SEPARATION = 0.0" and "APPARENT CAMERA HEIGHT 4.024, SLANT 

60.0." These are illustrated in Figures 8-13. 

A complete summary of the IPL PIC IO's for these photoproducts is given 

in Table 5. 

23 
TABLE 5 

STANDARD AND SPECIAL VLSTEREO PRODUCTS 

FRONT AM 

RACK AM 

FRONT PM 

BACK PM 

NODEL: FRONT AM 

BACK AM 

CAMSEP = 0: FRONT AM 

HEIGHT = 4: FRONT AM 

BACK AM 

FRONT AM 

BACK AM 

FRONT NOON 

BACK NOON 

FRONT PM 

BACK PM 

24 

IPL PIC IDs 

VL-1 

STANDARD VLSTEREO 

LEFT 

78/10/19/171012 (A) 

78/10/19/175121 (C) 

7810Q102/100058 

78/09/03/051633 

SPECIAL VLSTEREO 

LEFT 

79/02/07/000423 (A) 

78/08/12/084735 (C) 

78/10/10/185301 (A) 

78/08/27/010209 

78/08/27/005139 

VL-2 

STANDARD VLSTEREO 

LEFT 

78/09/08/092354 (E) 

78/08/29/170746 (G) 

78/10/31/183212 (1) 

78/10/31/183328 

78/10/21/014626 

78/12/05/162330 

RIGHT 

78/10/19/175118 (B) 

78/10/19/173518 (D) 

78/09/09/095212 

78/09/06/081441 

RIGHT 

78/08/12/114001 (B) 

78/08/02/005437 (D) 

78/09/08/113258 (8) 

78/08/061222439 

79/02/01/151349 

RIGHT 

78/09/08/095331 ( F) 

78/09/08/091712 (H) 

78/10/21/012248 (J) 

78/10/12/165801 

78/10/21/001159 

78/10/12/171808 
NODEL: FRONT AM 

BACK AM 

CAMSEP = 0: FRONT NOON 

HEIGHT = 4: FRONT AM 

BACK AM 

SPECIAL VLSTEREO 

LEFT 

78/10/10/184155 (E) 

78/0RI01/211315 (G) 

78/09/03/045817 (I) 

78/10/12/170244 

7R/07/?1/003550 

RIGHT 

78/08/12/092416 (F) 

78/08/02/190605 (H) 

78/11/28/221305 (J) 

78/08/26/093213 

78/08/15/210125 

NOTE: ALL IMAGES MARKED BY THE SAME LETTERS MAY BE SUBSTITUTED 

FOR EACH OTHER FOR DIFFERENT STEREO EFFECTS. 

C. Stereo Pairs 

1. Stereo Windows From the Mosaics 

An additional set of images was reproduced on the GRE (Ground 

Reconstruction Equipment) from digital data sets used to produce the Standard 

and Special VLSTEREO pairs described above. In all cases, either a 512 x 512 

or a 256 x 256 square pixel area (called "windows") were extracted and 

reproduced on the GRE film recorder. 

The GRE was built specially for the Viking Lander Imaging Equipment by 

the ITEK Corporation. It generates 5 x 12 inch negatives. Prints from these 

negatives are distributed as 5 inch rolls separated into individual rolls 

identified by a TDR (Team Data Record) roll number. Each 5 x 12 inch negative 

contains two photoproducts. They are arranged so that stereo pairs can be 

viewed by placing two negatives adjacent to each other. This also makes it 

convenient when the rolls of contact prints are cut into 5 x 12 inch pieces 

each with two images. 

Thus two such photoproducts with SEQ-001 comprise two stereoscopic pairs. 

The top images from each is a pair; the bottom images from each is a pair. 

"STEREO-L" or "STEREO-R" identifies left or right. "L1.C1.AM" identifies the 

high-resolution mosaic from which the windows were extracted. 

The pairs of photoproducts are identified along the top by an annotation 

label of the form: 

STEREO-L SEQ-001 L1.C1.AH 

STEREO-R SEQ-001 L1.C2.AM 

The Special Products TDR catalogue (see Section IV .A.) gives information 

about the center of each image and its size. Since these "windows" were 

extracted from both standard and special stereo datasets, this distinction is 

also identified. Figures 14 and 15 illustrate the stereo pair products. 

25 
Table 6 summarizes these photoproducts. 

TABLE 6 

STEREOSCOPIC WINDOWS FROM THE MOSAICS 

SOURCE OF IMAGES 

FRONT AM 

BACK AM 

FRONT PM 

BACK PM 

HEIGHT=4,FRONT AM 

BACK AM 

CAMSEP=O , FRONT AM 

(note- can be used 

with VL-1,AM above 

to make CAMSEP=O.5) 

FRONT AM 

BACK AH 

FRONT NOON 

BACK NOON 

FRONT PM 

BACK PM 

HEIGHT=4, FRONT AM 

BACK AM 

GRE PHOTOPRODUCTS 

VL-1 

SEQUENCE RANGE 

(for Stereo-L 

Stereo-R pairs) 

SEQ-001 to SEQ-016 

SEO-017 to SEQ-027 

SEQ-058 to SEQ-063 

SEO-064 to SEQ-074 

SEQ-075 to SEQ-078 

SEQ-079 to 3EQ-084 

SEO-085 to SEQ-099 

and SEO-154 

VL-2 

SEO-035 to SEQ-041 

SEQ-049 to SEQ-051 

SEQ-028 to SEQ-034 

SEQ-052 to SEO-054 

SEO-042 to SE~ 048 

SEQ-055 to SEO-057 

SEO-155 to SEO-160 

SEO-161 to SEQ-165 

2. other Special stereo Pairs 

TDR ROLL II 

40 

40 

48 

48 

51 

51 

51 

48 

48 

48 

48 

48 

48 

51 

51 

Numerous imaging pairs were acquired throughout the mission (notably of 

surface sampler arm related activities) that were not included as part of the 

high-resolution mosaic datasets. These individual pairs also require 

processing through the program VLSTEREO in order to be fusible. A total of 53 

additional pairs of images were generated from these images. 

The photoproducts were created on the GRE, and are identified along the 

top by labels of the format: 

26 
STEREO-L 

STEREO-R 

SEQ-100 

SEQ-100 

11A055 

12A056 

STF.REO-L and STEREO-R together, both with SEQ-100, comprise a stereo 

pair. The .terms "STEREO-L" or "STEREO-R". identify the left or right hand 

image. The sequence number "SEQ-100" identifies the stereo pair. "11A055" 

and" 12A056" identify the camera events from which the image pair was 

produced. 

Each negative has two images, vertically arranged from each other. The 

top of each pair has been processed with an apparent camera separation of 1.0. 

The bottom has been processed with a separation of 0.0. By using the top (or 

bottom) of a STEREO-L image with the bottom (or top) image of a STEREO-R 

image, the result is a pair with an apparent separation of 0.5. 

These special stereo pairs are contained on TOR # 50 (SEQ-100 to 153). 

O. Orthographic Projections 

Thirteen (13) 8 x 10 inch Optronic products were created from the highresolution mosaics that display the area near each lander as viewed from 

above. As for the stereoscopic images described in Section III. B., this 

transformation is a rubber-stretch algorithm that does not use the point-bypoint information necessary to produce a true overhead representation. 

Although these products are termed orthographic projections (analogous to 

overhead views as produced from orbiter images), the actual transformation 

treats camera azimuth and elevation as a poiar gnomonic projection centered at 

a point directly below each camera. 

The IPL PIC IO photoproducts created using this projection are summarized 

in Table 7. Figure 16 is an illustration of one of the orthographic 

projections. 

PIC ID 

79/12/301003608 

79/12/29/235241 

79/12/30/032214 

79/12/30/040900 

TABLE 7 

ORTHOGRAPHIC PROJECTIONS 

VL-1 

Camera 1, AM 

AZIMUTH RANGE 

(in degrees) 

60 to 160 

150 to 215 

25 to 105 

95 to 175 

ELEVATION RANGE 

(in degrees) 

-25 to -60 

-25 to -60 

-15 to -30 

-15 to -30 

27 
PIC ID 

79/12/30/034701 

79/12/30/041538 

79/12/30/012037 

PIC ID 

80103/14/061206 

PIC ID 

79/12/30/024400 

79/12/30/043602 

79/12/30/044245 

PIC ID 

79/12/30/020334 

79/12/301050107 

E. It Hap Products 

Camera 2, AM 

AZIMUTH RANGE 

(in degrees) 

130 to 195 

185 to 250 

120 to 220 

Camera 2, PM 

AZIMUTH RANGE 

(1n degrees) 

105 to 165 

VL-2 

Camera 1, Noon 

AZIMUTH RANGE 

(in degrees) 

55 to 315 

260 to 340 

330 to 50 

Camera 2, Noon 

AZIMUTH RANGE 

(in degrees) 

10 to 110 

25 to 105 

ELEVATION RANGE 

(1n degrees) 

15 to 30 

15 to 30 

25 to 60 

ELEVATION RANGE 

(in degrees) 

40 to 60 

ELEVATION RANGE 

(in degrees) 

25 to 60 

15 to 30 

15 to 30 

ELEVATION RANGE 

(in degrees) 

25 to 60 

15 to 30 

During the intensive data acquisition period of the Viking mission, 

virtually all of the available panorama was imaged in high resolution at 

multiple times of day by both cameras of both landers. Thereby, virtually all 

of the scene that was visible in common to both cameras on each lander was 

imaged stereoscopically. During and immediately following this period, an 

interactive computerized video stereophotogrammetry system (Liebes and 

Schwartz, 1977) installed at the Jet Propulsion Lab (JPL), was employed to 

generate topographic map information from the imaging data recorded by the 

lander cameras. The system consisted of a Stereo Station developed at 

28 
Stanford University, a computer, and a sUbstantial computer program, 

RANGER, developed at JPL. The stereo station supported a pair of video 

monitors arranged so that they could be viewed stereoscopically by a 

photogrammetrist. Computer resident digital stereo imaging data could be 

called forth for display upon the video monitors. 

The computer could be commanded to project upon the monitors an 

artificial three-space mark, consisting of a pair of appropriately coupled 

video dot overlay cursors. The photogrammetrist, viewing the displayed images 

stereoscopically, could employ a track ball to move the three-space video mark 

over the perceived relief. A most common operating mode involved commanding 

the computer to constrain the three-space mark to a selected member of a set 

of horizontal or vertical surfaces, for the purpose of enabling the generation 

of contours or vertical profiles. The task of the photogrammetrist then 

became the traditional one of moving the mark along his perception of the 

intersection of the mathematical surface of constraint with the Martian 

relief. In this manner, contours or profiles of any desired kind could be 

generated. The fundamental system product was a computer readable, and 

plottable, range data set (RDS). 

Two general classes of topographic analysis were performed: one a study 

of feature specific detail, and the other a survey of the entire 

stereoscopically mappable surroundings of the two landers. The latter led to 

the preparation of publishable map material for the following: 

1. Systematic contour map data (intersections with Mars of planes 

oriented perpendicular to the local Martian zenith), extending from the 

immediate foreground to the remote limits of ranging capability, in excess of 

100 m range, for the front and back of both landers. 

2. Systematic vertical profiles (intersections with Mars of planes 

radiating out from the lander and containing the local Mars zenith), at 50 

azimuth intervals, from the immediate foreground to the remote limits of 

ranging capability, for the front and back of both landers. The origin of 

these planes is the same as the origin of the Lander Aligned Coordinate System 

(LACS, see Liebes, et al [1977]). 

The systematic map data, derived as it is from two cameras located 

approximately 0.8 m apart and 1.3 m above the nominal Martian surface, is of a 

qui te unorthodox character. The ranging accuracy is approximately 

quadratically dependent upon range, with absolute single point ranging 

accuracy varying from +/- 1 cm near the lander to +/- 20 m at 100 m range. 

Relative accuracy of the data is judged to be approximately ten times better 

than these figures. The contour interval spacing varies from a few 

centimeters in the foreground to a meter at 100 or more meters range. 

Bearing in. mind that the ranging accuracy of the map data is highly range 

dependent, the policy adopted in producing the contour maps was to ensure that 

somewhere in the collection of delivered map materials there will be found, 

for any location, a sheet that is of such scale that a reader can visually 

examine the data to the limit of meaningful resolution for that location. 

This policy led to the production of contour maps at eleven different scales: 

1:1, 1:2, 1:5, 1:10, 1:20, 1:50, 1:100, 1:200, 1:500, 1:1000, and 1:2000. The 

29 
map grids are all standardized to a 50 cm square frame, thus, e.g. the single 

sheet at 1:2000 records map data out to 500 m in all directions from the 

centrally located lander. Multiple sheets are required at the smaller scales. 

There are 65 sheets for each lander. 

All of the maps are formatted and produced by computer. The output 

device is a Varian Statos 4222 electrostatic printer/plotter, with 4224 styli 

spaced at 0.005 inch intervals over the 21.12 inch writing width. 

The coordinate system is the Local Gravity-Normal (LGN) system, defined 

as follows: The LGN system is orthogonal and right-handed. The origin 

coincides with that of the Lander Aligned Coordinate System (LACS). the Zaxis points toward the zenith. The Y-axis points in the direction of the 

projection of the LACS-z-axis normal to the horizontal plane through the 

origin. 

All sheets are configured about an identical 50 cm X 50 cm grid. The 

number of sheets at any given scale is variable, and governed by the dictates 

of the above stated policy. For any given scale the sheet complement is a set 

or subset of a contiguous, non-overlapping array. Figure 17 illustrates one 

of these products for VL-2 at a scale of 1:20. Since it has been reduced 

2.5:1, all the detail is not legible. 

* This section is abstracted from presentations made at the Planetary 

Geology Principal Investigators' meetings of June, 1979 and January, 1980 by 

Sidney Liebes Jr. and Elliott C. Levinthal. 

F. Contour and Vertical Profile Overlays 

Thirty-two (32) 8 X 10 inch Optronics photoproducts display the 

systematic graphic representations of point-by-point 3-dimensional topographic 

information described in the previous section. 

Both profile and contour data sets have been overlain on the highresolution mosaic datasets (16 products). Contours have been superimposed on 

both STANDARO VLSTEREO mosaics (4 pairs) and SPECIAL VLSTEREO mosaics (4 

pairs). 

Each of these photoproducts is identified with a large-type descriptor in 

the format: 

30 

RANGE DATASET (CONTOURS) OVERLAIN 

ON HIGH-RESOLUTION MOSAICS 

IPL PIC ID 19/07/15/100146 

L1.C1.AM.Q3+Q4 
The term "RANGE DATASET OVERLAIN ON HIGH-RESOLUTION MOSAICS" identifies 

the type of product. Profile datasets are identified by the substitution of 

the word (PROFILES). The term "L1.C1.AM.Q3+Q4" refers to the high-resolution 

mosaic from which the product was made. The Image Processing Laboratory 

picture identifier (IPL PIC ID) is expressed as the date of creation on the 

computer (YY/MM/DD/HHMMSS). Figure 18 illustrates the profiles overlain on 

the mosaic of the scene at the back of Lander 2. 

The stereoscopic products are identified by labels of the format: 

RANGE DATASET (CONTOURS) OVERLAIN 

ON STANDARD VLSTEREO MOSAIC 

IPL PIC ID 79/09/041071241 

L1.C1.AM.Q3+Q4 (FRONT - LEFT EYE) 

The term "RANGE DATASET (CONTOURS) OVERLAIN ON STANDARD VLSTEREO MOSAIC" 

identifies the type of product. The exaggerated stereoscopic pairs are 

identified with the term "RANGE DATASET (CONTOURS) OVERLAIN ON EXAGGERATED 

VLSTEREO MOSAIC". The other label information is as above, except for the 

additional term "FRONT - LEFT EYE" identical to the descriptions for the 

VLSTEREO products described in a previous section. Figures 19 and 20 are the 

contours overlain on the Standard VLSTEREO mosaic of the scene in front of VL2 and form a pair that can be viewed stereoscopically. 

A complete list of the IPL PIC ID's for all Range Dataset Overlay 

products may be found in Table 8. 

Contours - Front AM 

Profiles - Front AM 

Contours - Back AM 

Profiles - Back AM 

TABLE 8 

RANGE DATASET (RDS) OVERLAYS 

IPL PIC IDs 

HIGH RESOLUTION MOSAICS 

VL-1 

Cam 1 ' 

79/07/15/100746 

79/07/15/102049 

79/03/201034017 

79/03/201044430 

Cam 2 

79/03/22/035818 

79/06/06/021223 

79/07/15/112532 

79/07/15/113640 

31 
Contours - Front 

Profiles - Front 

Contours - Back 

Profiles - Back 

VL-1 Front 

VL-1 Flack 

VL-2 Front 

VL-2 Back 

VL-1 Front 

VL-1 Back 

VL-2 Front 

VL-2 Back 

VL-2 

AM 79/10/11/055137 79/03/15/022628 

AM 79/10/11/060732 79/03/15/032905 

AM 79/0 Li/04/030319 79/10/08/233417 

AM 79/04/04/041347 79/10/08/234537 

Standard VLSTEREO (Contours only) 

Cam 1 Cam 2 

AM 79/09/04/071241 80/061101221347 

AM 79/10/25/020224 79/09/04/070518 

AM 79/09/03/064209 79/09/05/052010 

At-1 79/10/08/220956 79/08/11/035149 

Enhanced VLSTEREO (Contours only) 

Cam 1 

AM 79/06/16/011R32 

AH 79/04/291200756 

M! 79/06/08/014304 

AM 79/10/08/230320 

Cam 2 

79/08/26/061348 

79/05/05/103617 

79/08/12/072833 

79/05/05/092111 

r.. Movie, " Mars in 3-D" 

1. Technical Description 

The movie comhines techniQues of computer image processing, animation, 

and stereo movie technology. It includes some stereo scenes acquired by the 

V1kin~ Orbiter cameras, shots taken at the Jet Propulsion Laboratory showing 

the operation of the Viking Lander Spacecraft, and the surface of t1ars as 

viewed in three dimensions, at hoth lander sites, by the Viking Lander Camera 

System. 

As described in Section III.B.1, a stereo pair of photographs can be used 

to present surface topography to the viewer. However, even with highly 

developed stereoscopes, it is difficult to convey a surface in its complete 

panoramic setting with a series of static images. A movie provides an answer 

to this problem. Converting the digital data received on earth from the 

flying-spot scanning cameras on ~ars to a movie required a series of steps 

which are described below. 

The essential first step was the creation of mosaics of scenes to be 

32 
included in the movie. The procedure for doing this is described in section 

II. B. of this publication. 

There remained another large computer processing task specifically 

directed toward stereo viewing. The two cameras on each spacecraft are 

separated by .8 meters (our eyes are separated by only 65 mm) causing objects 

in the near field to be at significantly different viewing angles and 

distances from each camera. This causes vertical displacements which are very 

difficult for the stereo viewer, and changes in scale for parts of the scene 

common to both left and right camera mosaics. These were removed by the next 

step in the process which was to carry out the transformation discussed in 

section III.B.1. It still is difficult for the stereo viewer to accomodate 

the large change in disparity from the horizon to the near field that remains 

due to the .8 meter camera separation. 

The mosaics, transformed into a new stereo data set, were then outputted 

to an Optronics Photowriter which made a single 8 x 10 negative with a 50 

micron spot size for the forward and backward facing scenes for each of the 

four cameras. These are available as separate photproducts and are described 

more fully in section III.B.1. Enlarged prints of these negatives were then 

used to layout the scenario of the movie. An animation stand, used to the 

limit of its mechanical accuracy then carried out the specified "moves", pans, 

and zooms for the left and right hand original film material. 

The orbiter scenes in the movie were also generated using animation 

techniques. The stereo pairs, provided by Karl R. Blasius of the Orbiter 

Imaging Team, required no special computer processing because of the simpler 

camera geometry involved. However because of the large effective stereo 

baseline, or separation of the orbiter spacecraft in acquiring the image 

pairs, there is a great deal of exaggeration of the vertical relief. 

The live shots of the spacecraft were taken at the Jet Propulsion 

Laboratory by Paul Vlahos using a two-camera system with adjustable separation 

and convergence angle designed by Vlahos-Gottschalk for comfortable stereo 

viewing. 

The musical accompaniment to "Mars in 3-D" was produced by William 

Schottstaedt and Michael McNabb at the Center for Computer Research in Music 

and Acoustics, Stanford University. The sound was generated with the Systems 

Concepts Digital Synthesizer controlled by a DEC PDP-10 general-purpose 

computer. 

The choral-like sections were realized by first analyzing the spectral 

content of a soprano's voice using Fourier analysis programs, and then 

reconstructing it with the digital synthesizer. Subtle and precisely 

controlled shifts of timbre, special tuning systems, and changes in intonation 

and choral density are then possible, along with control over the apparent 

spatial position of each note. 

The orchestral sections were produced using frequency modulation 

synthesis, wherein a complex harmonic spectrum results from the modulation of 

one or more frequencies by on or more other frequencies. By using two carriers 

with slightly mistuned modulators, the sound of an entire section of an 

33 
orchestra can be produced by one computer "instrument". The pitched noise 

that appears prominently at the end is created by modulating the modulators 

themselves with a random number generator. 

2. Available Forms of the Movie 

The movie is available in two forms and two lengths. Each form uses a 

different method of achieving stereo separation for the audience. The 

polarized version uses left and right reels on two interlocked 16 mm 

projectors, each with oppositely polarized filters. The audience is. provided 

with appropriately polarized glasses that allow each eye to see only the 

correct image. The screen must have a metalized surface that does not 

depolarize the images. In this form the movie can be viewed in true color and 

is, in fact, in color in some of the scenes. The two independent optical 

sound tracks allow the music to be presented, as created in stereo. The 

running time for the polarization version is 32 minutes. Since special 

equipment and an experienced projectionist are required to exhibit this 

version of the film, showings are expensive and have to be individually 

arranged. The second method uses anaglyph techniques for stereo separation. 

The lefteye and righteye films are printed through filters onto a single reel 

to give superimposed red and green images. In this case the audience is given 

glasses with red and green filters which again allow each eye to see only the 

correct image. The image is in black and white for the scenes which were 

black and white in the original material and "false" color in the remaining 

scenes. It can be shown using a single standard 16 mm projector with optical 

sound and a standard screen. Since there is only one sound track the music is 

not in stereo. Because the glasses significantly attenuate the light, it is 

necessary to produce a very bright image for comfortable viewing. This can be 

accomplished best by using a projector with a high intensity lamp and using a 

"high gain" screen such as aluminum (Ektalite), lenticular, or beaded. With 

such screens the light intensity decreases as the viewer moves off the axis of 

the projection beam. In all cases attention should be paid to providing 

seating only in a good viewing area. Kodak Publication No. S-18, Reflection 

Characteristics of Front-Projection Screen Materials gives detailed 

information. In showing a stereo movie it is particularly important that the 

audience not sit too close to the screen. Stereo is achieved because of the 

difference in parallax between the left and right eye views of the scene. This 

disparity results in a separation of the two images projected on the screen. 

In the case of the scenes of the surface of Mars this has been made equal to 

zero at the horizon but is much greater than the viewer would normally 

experience in the near field because the cameras are separated by .8 meters 

rather than the 65 mm normal interocular separation. The angular separation 

increases as one approaches the screen, requiring the viewers to go "walleyed" if they are too close. It is recommended that the audience sit at least 

twice the image width from the screen and the image width be no more than half 

of what ordinarily might be used in the auditorium in which the movie is being 

shown. 

An anaglyph movie relies on exposing the magenta layer of three layered 

color film with the image for one eye and the cyan layer with the other image. 

Because the dyes are not perfect there are low level double images which only 

34 
become apparent when there are, for example, very dark objects against a light 

background and, as in the near field, the separation is large compared to the 

size of the objects. To eliminate these problems and to make the movie more 

enjoyable for the viewer the anaglyph version has been edited to a 23 minute 

length. This edited version still contains all the important elements of the 

original movie and is the version recommended for most uses. For special 

purposes, a 32 minute anaglyph version and a video cassette of the 23 minute 

anaglyph version can be made available. 

35 
IV. PROCUREMENT OF PRODUCTS 

A. Photoproducts 

The photographic products, except for the movie, are available from the 

National Space Science Data Center (NSSDC), Code 601.4, Goddard Space Flight 

Center, Greenbelt, Maryland 20771. An order form is included in the back of 

this publication. 

The complete photographic record of the Viking Mission, for the Lander 

Camera System is called the Experimenter Data Record (EDR). Tucker (1978) is 

a picture catalog of that record for the Primary Mission which covers the 

period touchdown until the transmission from both spacecraft was temporarily 

halted on November 7, 1976. Additional such catalogues are being published 

for the remainder of the mission. Tucker (1978), NASA reference publication 

1007, is available from NSSDC on black and white microfiche. The NSSDC Data ID 

Number is 75-075C-06C-06E for Lander I and 75-083C-06E for Lander II. A 

limited number of the printed catalogues are also available from NSSDC. This 

catalogue should be used to order any individual EDR images. The individual 

images are available as 5 x5 inch frames or on 5 inch rolls. They have been 

contrast-enhanced to maximize the use of the gray scale of the photographic 

products. However, no digital filtering, or geometric or photometric 

corrections have been applied. 

Those images of most general scientific interest have been assembled into 

what is called the Team Data Record (TDR). These were produced with the 

highest quality that could be achieved on the GRE described in section III.C. 

Essentially all the images which comprise the mosaic data sets are included in 

the TDR. Various versions of these images have been produced resulting from 

different computer enhancements. The TDR catalogue that describes the 

parameters of each image is available on microfiche. The NSSDC Data ID 

numbers are 75-075C-06K and 75-083C-06K for Landers I and II respectively. 

These catalogues should be used to order individual images which are supplied 

on 5 x 12 inch black and white film. These catalogues include the special 

products, listing data concerning all the Stereo Pair, 1 mil 3x, and Diffpix 

products and should be used for ordering these products. 

Table 9 gives the NSSDC Data ID numbers for all the mosaic and derived 

products discussed in this pUblication. That number and the IPL PIC ID 

numbers given in the individual sections will permit 8 x 10 inch black and 

white negatives, contact prints and enlargements to be ordered from NSSDC. 

36 
NSSDC ID 

75-075C-06H 

75-075C-06W 

75-075C-06I 

75-075C-06R 

75-075C-06R 

75-075C-06R 

75-075C-06S 

75-075C-06T 

75-075C-06T 

75-075C-06T 

75-075C-06T 

75-075C-06U 

75-075C-06V 

75-083C-06H 

75-083C-06W 

75-083C-06I 

75-083C-06R 

75-083C-06R 

75-083C-06R 

75-083C-06S 

75-083C-06T 

75-083C-06T 

75-083C-06T 

75-0B3C-06T 

75-083C-06U 

75-083C-06V 

75-083C-l0A 

B. Magnetic Tapes 

TABLE 9 

NSSDC DATA 1D NUMBERS 

NAME 

Lander 1 

High-Resolution Mosaics Photographs 

High-Resolution Mosaics Lithographs 

Donut Projection 

Standard VL Stereo 

Special VL Stereo 

Stereo Pairs 

Orthographic Projection 

Map Products - Contours 

Map Products - Vertical Profiles 

Contour Overlays 

, Vertical Profile Overlays 

1 MIL, 3X 

Diffpix 

Lander 2 

High-Resolution Mosaics Photographs 

High-resolution Mosaics Lithographs 

Donut Projection 

Standard VL Stereo 

Special VL Stereo 

Stereo Pa ir s . 

Orthographic Projection 

Map Products - Contours 

Map Products - Vertical Profiles 

Contour Overlays 

Vertical Profile Overlays 

1 MIL, 3X 

Diffpix 

Backhoe Magnets 

The EDR is available on 9-channel industry compatible digital magnetic 

tapes from NSSDC. The tape numbers and label record information is contained 

in Tucker (1978). Copies of the tapes can be procured from NSSDC. 

The mosaic data sets are stored in digital form on a series of magnetic 

tapes described in sectiorl.II. D.3. No formal procedure exists for generating 

additional copies. Inquiry about the digital data for both the mosaics and 

the derived products can be made to Ms. Kathy Lee, Regional Planetary Image 

Facility, Jet Propulsion Laboratory (JPL), 4800 Oak Grove Drive, Pasadena, 

California 91103 (213-354-3354). 

37 
The following table is a list of the digital products that have been 

delivered to various members of the Lander Camera Team and the addresses of 

the recipients. 

TABLE 10 

RECIPIENTS OF DIGITAL PRODUCTS 

ARVIDSON 

HUCK 

JONES 

LEE 

MOSAICS 

(1) 

X 

X 

X 

X 

LEVINTHAL X 

MORRIS X 

MUTCH X 

POLLACK X 

SAGAN X 

IPL @ JPL X 

CONTOUR 

VERTICAL 

OVERLAYS IN 

MOSAICS 

(2) 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

VLSTEREO 

STANDARD 

(3) 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

RANGE 

DATA 

SETS 

(4) 

X 

X 

X 

X 

X 

VLSTEREO 

OVERLAYS 

(5) 

X 

X 

ALL 

OTHER 

PRODUCTS 

(6) 

X 

(1) 30 nine track/800 BPI for 2-sector portions of mosaics 

10 nine track/1600 BPI for 4-sector complete mosaics 

(2) R nine track/~OO BPI tapes 

(3) 20 nine track/1600 BPI tapes 

(II) 9 nine track/80n BPI tapes for contour and vertical profile 

range data sets 

18 nine track/ROO API for arm-specific and miscellaneous range 

data sets 

(5) 8 nine track/ROO BPI contours only 

LIST OF ADDRESSES OF RECIPIENTS OF DIGITAL PRODUCTS 

Raymond E. Arvidson 

McDonnell Center for the Space Sciences 

Department of Earth and Planetary Science 

Washington University, Box 1169 

St. Louis, Missouri 63130 

314-889-5679 

Friedrich Huck 

Mail Stop 473 

Langley Research Center 

Hampton, Virginia 23665 

804-827-3761 

38 

Elliott C. Levintha1 

Department of Genetics 

Stanford University 

Stanford, California 94305 

415-497-5813 

Elliot C. Morris 

U.S. Geological Survey 

601 East Cedar Avenue 

Flagstaff, Arizona 86001 

602-779-3311, ext. 1426 
Image Processing Laboratory 

Jet Propulsion Laboratory 

~800 Oak Grove Drive 

Pasadena, California 91103 

Kenneth L. Jones 

Mail Stop 264-317 , Jet Propulsion Laboratory 

4800 Oak Grove Drive 

Pasadena, California 91103 

213-354-5942 

Kathy Lee 

Regional Planetary Image Facility 

Jet Propulsion Laboratory 

4800 Oak Grove Drive 

Pasadena, California 91103 

213-354-3343 

C. L1 thographic Products 

Thomas Mutch 

Department of Geological Science 

Brown University 

Providence, Rhode Island '02912 

401-863-3339 

James A. Pollack 

Ames Research Center 

Moffett Field, California 94035 

Carl Sagan 

Director, Laboratory for 

Planetary Studies 

Center for Radiophysics and 

Space Research 

Cornell University 

Ithaca, New York 14850 

607-256-4971 

The lithographic products described in section II.D.2 can be procured 

either through the NSSDC or the United States Geological Services (USGS). See 

Table Q for NSSDC ID numbers. They can also be procured from the USGS over 

the counter and by mail from the following two main distribution'centers. 

Branch of Distribution 

U.S. Geological Survey 

1200 South Eads Street 

Arlington, Virginia 22202 

Branch of Distribution 

U.S. Geological Survey 

Federal Center 

Denver, Colorado 80225 

They are ordered as "Atlas of Mars, Viking Lander Mosaic Series, Miscellaneous 

Investigators Map". The 'USGS identification number for the first set to be 

issued, VL-1, Morning Scene - Camera 2, is 1-1243. ' The ID numbers for the 

remaining 9 sets have not as yet been issued. Further information about these 

can ,also be obtained from any of the Public InqUiries Offices of the USGS 

listed in Table 11 below~ 

ALASKA 

108 Skyline Building 

50R Second Avenue 

Anchorage, Alaska 99501 

TABLE 11 

USGS PUBLIC INQUIRIES OFFICES 

TEXAS 

1C~5 Federal Ruilding 

1100 Commerce Street 

Dallas, Texas 75202 

39 
CALIFORNIA 

7638 Federal Building 

300 North Los Angeles Street 

Los Angeles, California 90012 

504 Custom House 

555 Battery Street 

San Francisco, California 94111 

COLORADO 

1012 Federal Building 

1961 Stout Street 

Denver, Colorado 80202 

DISTRICT OF COLUMBIA 

10288 General Services Building 

19th and F Streets NW. 

Washington, D.C. 20244 

D. Hap Products 

UTAH 

8102 Federal _Building 

125 South State Street 

Salt Lake City, Utah 84138 

VIRGINIA 

302 National Center 

Reston, Virginia 22092 

WASHINGTON 

678 u.S. Court House 

West 920 Riverside Avenue 

Spokane, Washington 99201 

These products can be procured through the NSSDC. See Table 9 for NSSDC 

ID numbers. 

E. Movie - "Mars in 3-D" 

Copies of the 23 minute anaglyph 16 mm film version are available for 

both rental and purchase for non-profit use. Contact Code LFD-13, NASA Headquarters, Washington, D.C. 20546, telephone 202-755-3500. Further information 

on the availability of the movie in its various forms can be obtained by 

writing or telephoning Ms. Elsa Henderson, Room S047, Genetics Department, 

Stanford University Medical Center, Stanford, California 94305, (telephone: 

415-497-5565 or 497-5141). The viewing glass'es are provided with the rental 

film. They can be purchased from Deep-Vision 3-D Box 38386, Hollywood, Calif. 

90038 (tel. 213-465-5819) for $75 for a_box of 500. They are made using 

Roscogel filters no. 222, fire red, for the right eye and no. 258, light greenblue, for the left eye, available from Rosco, 36 Bush Avenue, Port Chester, 

N.Y. 10573 (tel. 914-937-1300). 

40 
F. Regional Planetary Image Facilities (RPIF) 

Regional Planetary Image Facilities have been established by the 

Planetary Geology Program, NASA, at the institutions listed below. Each of the 

regional facilities is jointly sponsored by the institution and NASA. The 

RPIFs are primary reference libraries of space photography and provide access 

to the photographic and engineering data acquired by this country's space 

project for use by NASA's principal investigators, faculty, students and the 

general public. They are not facilities for reproduction of photographs for 

non-government funded investigators and the general public. The regional 

facilities will however provide valuable assistance in ordering data from 

NSSDC. 

TABLE 12 

REGIONAL PLANETARY IMAGE FACILITIES 

SPACECRAFT IMAGERY CENTER 

Lunar and Planetary Laboratory 

University of Arizona 

Tucson, AZ 85721 

Facility Director: 

Mr. Robert G. Strom 

Librarian: 

Gail S. Georgenson 

(602/626-4861 ) 

PLANETARY IMAGE FACILITY 

Lunar and Planetary Institute 

Houston TX 77058 

Facility Director: 

Dr. Peter H. Schultz 

Librarian: 

Ron Weber 

(713/486-2172) 

PLANETARY DATA FACILITY 

Astrogeology Branch 

U.S. Geological Survey 

Flagstaff AZ 86001 

Facility Director: 

Dr. Elliot Morris 

Librarian: 

Jody Swann. 

(6021779-3311 ) 

(FTS: 261-1505) 

BROWN REGIONAL PLANETARY DATA CENTER 

Brown University 

Providence RI 02912 

Facility Director: 

Dr. James Head, III 

Librarian: 

John Crowley 

(401/863-3243) 

SPACECRAFT IMAGING CENTER 

Cornell University 

Ithaca NY 14853 

Facility Director: 

Dr. Joseph Ververka 

Librarian 

Margaret Dermott 

(607/256-3833) 

PLANETARY IMAGE FACILITY 

McDonnell Center for Space Sciences 

Washington University 

st. Louis MO 63130 

Facility Director: 

Dr. Raymond E. Arvidson 

Librarian: 

Betty Weiss 

(314/889-5679) 

41 
PLANETARY IMAGE FACILITY 

Jet Propulsion Laboratory 

California Institute of Technology 

Pasadena CA 91103 

Facility Director: 

Dr. R. Stephen Saunders 

Librarian: 

42 

Kathy Lee 

(213/354-3343) 

(FTS: 792-3343) 
V. REFERENCES 

Davies, M.E., Katayama, F.Y. and Roth, J.A.: Control Net of Mars: Feb. 1978, 

Rand Corp. - R2309 NASA, 1978. 

de Vaucouleurs, G.D.; Davies, M.E. and Sturms, F.M., Jr.: The Mariner 9 

areographic coordinate system. Journal of Geophysical Research, vol. 78, 

no. 20, pp. 4395-4404, 1973. 

Huck, F. 0.; McCall, H. F.; Patterson, W. R.; and Taylor, G.R,: The Viking 

Mars Lander Camera. Space Sci. Instrum., vol. 1, no. 2., pp. 189-241, May 

1975. 

Huck, Friedrich 0.; Burcher, Ernest E.; Taylor, Edward J.; and Wall, Stephen 

D.: Radiometric Performance of the Viking Mars Lander Cameras. NASA TM X72692, 1975. 

Levinthal, Elliott C.; Green, William; Jones, Kenneth L.; and Tucker, Robert: 

Processing the Viking Lander Camera Data. J. Geophys. Res., vol. 82, no. 

28, pp. 4412-4420, Sept. 30, 1977. 

Liebes, Sidney, Jr.; and Schwartz, Arnold A.: Viking 1975 Mars Lander 

Interactive Computerized Video Spectrophotogrammetry. J. Geophys. Res., 

vol. 82, no. 28, pp. 4421~4429, Sept. 30,1977. 

Hayo, A.P.: Blackshear, H.T.: Tolson, R.H.; Michael, W.H., Jr.; Kelly, G.M.; 

Brenkle, J.P.: and Komarek, T.A.: Lander locations, Mars physical 

ephemeris, and solar system parameters": determination from Viking Lander 

tracking data. Journal of Geophysical Research, vol. 82, no. 28, pp. 1297-

1304, Sept. 30,1977. 

Morris, E.C.; Jones, K.L.; and Berger, J.P.: Location of Viking 1 Lander on 

the surface of Mars. Icarus, vol. 34, pp. 548-555, 1978. 

Morris, E.C. and Jones, K.L.; Revised Location of Viking 1 Lander on the ~urface of Mars. Science (in press). 

Patterson, William R., III; Huck, F. 0.; Wall, S. D.; and Wolf, M. R.: 

Calibration and Performance of the Viking Lander Cameras. J. Geophys. 

Res., vol. 82, no. 28, pp. 4391-4400, Sept. 30, 1977. 

Tucker, Robert R.: Viking Lander Imaging Investigation Picture Catalog of 

Primary Mission Experiment Data Record. NASA Reference Publication 1007, 

February 1978. 

Wolf, Michael R.; Atwood, David L.; and Morrill, Michael E.: Viking Lander 

Camera Radiometry Calibration Report. Volumes 1 and 2. Publ. No. 77-62, 

Jet Propul. Lab., California Inst. Technol., Nov. 1,1977. 

Wolf, Michael R.: Viking Lander Camera Geometric Calibration Report. Volume 

1. Publ. No. 79-54, Jet Propul. Lab., California Inst. Technol., , 1980. 

43 
VI. ACKNOWLEDGEMENTS 

It is not possible to acknowledge all the individual contributions to the 

creation of the Viking Lander Camera Mosaics. The project was under the 

general supervision of Elliott Levinthal, Genetics Department Stanford 

Un iversi ty, representing the Lander Imaging Team. The process started with the 

generation of the appropriate camera commands for the necessary highresolution images. During most of the nominal mission this was the 

responsibility of Alan Binder, Institut fur Geophysic, University of Kiel. It 

then came under the direction of C.E. Carlston, Martin Marietta Company. 

The techniques for successful data recovery and bit error removal from 

the from the imagery acquired from individual camera events were developed by 

Kenneth L. Jones, Brown University. From data, incorporating these 

corrections, the database for the Mosaics, the Experimental Data Record (EDR), 

was generated under the guidance of Robert Tucker. 

The computer-formatting of the Mosaics, using the methodology outlined in 

this description was carried out in the Image Processing Laboratories (IPL) of 

the Jet Propulsion Laboratory. IPL was then under the management 

responsibility of William Green. The mosaicking task at IPL was initiated in 

August of 1976 under J.W.Berry. The initial mosaics were then generated by 

Steven Albers. The initial work on the final mosaics was carried out by Joel 

A. Mosher. There can be no doubt, however, that the major credit for the 

perseverance, diligence, and attention to detail necessary to complete the 

task of computer generation of these Mosaics belongs to Susan LaVoie, who 

worked under the supervision of Arnold A. Schwartz. The final Mosaic 

photoproducts were delivered in April, 1978. 

The production of the Mosaic lithographics sheets in their final form is 

being carried out by the U.S. Geological Survey, Flagstaff, Arizona, under the 

general supervision of Elliot C. Morris. 

The spec ial tran sformations, "Donut", VLStereo, orthographic, which 

formed the basi s of the derived products were due to the efforts of Dr. 

Kenneth L. Jones. Dr. Sidney Liebes Jr., Stanford University, was responsible 

for the map products. The contours and vertical profiles used in the overlay 

products involved the joint efforts of Dr. Liebes and Arnold A. Schwartz, of 

JPL's IPL, in designing RANGER and in carrying out the ranging activities 

using the Stereo Station designed by Dr. Liebes. 

Dr. Levinthal was the producer and Dr. Jones the director of the movie, 

"Hars in 3-D". 

Special note should be made of the fact that for the period since April 

1978, Dr. Jones and Sue LaVoie took complete responsibility for the IPL and 

JPL efforts in generating these products. 

44 
APPENDIX I 

USE OF THE MOSAICS FOR PHOTOGRAMMETRY 

A. Approximate method of ranging using mosaic photoproducts and lithographs 

This method, suggested by S. Liebes, Jr., does not take into account the 

change in the inter-camera distance L due to the tilt of the spacecraft. It 

is accurate to about 1%. 

Po = 

1. Specify the Azimuth angle from north for the common point to 

be ranged found in the camera 1 and camera 2 mosaics. Call these 

angles AZ 1N and Az 2N • These angles should be corrected, for points 

below the hori zon, a s shown in Table 1. . 

2. AZ 1N = flo + 900 - 81 

AZ 2N = flo + 900 - 8;>. 

Camera 1 

North Leg 1 

Azimuth of Z direction in LACS 

= 141.6270 for Lander 1 

= 29.0770 for Lander 2 

p 

Camera 2 

For Lithographic products where bolt-down corrections_have been 

made to the scale Azimuth Angle from North. 

45 
Sin (Az 2N - po + 900 ) 

= L ------------------------

Sin ( 82 - 81 Sin (Az 1N - Az 2N ) 

3. For photoproducts, corrections are required for bolt-down errors 

and for Lander 1, an additional 3.91 0 ccw correction. 

For Lander 1 

Sin (Az 2N - 55.71) 

R1 = .82 ------------------------ meters and 

Sin (Az 1N - AZ 2N - .68) 

Sin ( Po + 900 + 3.91 - Btn 1 - Az 1N ) 

R2 = .82 ------------------------- Sin (Az 1N - AZ 2N + Btn1 - Btn2) 

Sin (Az 1N - AZ 2N - .68) 

where Btn1 or 2 refers to the bolt-down errors for cameras 1 and 2 

and for Lander 2 we have 

Sin (Az 2N + 60.70) 

------------------------ meters and 

Sin (Az 1N - AZ 2N - .70) 

Sin (120.00 - Az 1N ) 

------------------------- meters 

Sin (Az 1N - AZ 2N - .70) 

B.Hethod used by RANGER to give pointing direction in LACS 

This section of the appendix details the method used by RANGER to convert 

pixel position in a Viking Lander mosaic image to a pointing direction given 

in the Lander aligned coordinate system (LACS). The detiltedmosaic images 

have been transformed to a system whose axis is al~gned with the local Mars 

gravity normal. This method takes into account all the errors identified in 

Section II.B.3 except those due to the difference between pre- and post-entry 

LPAG calculations. These differences could result in small changes in the 

rotation matrix T. 

46 
1. Given a detilted Viking Lander mosaic image, first identify a 

pointing direction by specifying the IPL line and sample 

positions. Let L = line and S = sample. 

2. Calculate the azimuth (a) and the elevation (e) from 

It ) a = ao + 0.04 (S-1 

, * e = eo - 0.04 (L-1) 

where ao is a function of which mosaic product is used. 

0.0 for 2-sector mosaic, 01 +02, sector 1 and 2 lithographs 

~nd 4-sector prod~cts covering 01+02+Q3+04 

84.0 for 2-sector mosaic, 02 + 03 

168.0 for 2-sector mosaic, 03 + 04 and sector 3 and 4 lithographs 

eo is 5.0 

(The azimuth values relate to the fact that each quadrant is 

2250 IPL samples long, and there is an overlap of 151 samples 

between sec to rs. ) 

3. It is useful at this point to consider the form of the mosaics as 

used by the program RANGER. For a ranging session, a camera 1 and 

camera 2 image pair was extracted from the detil ted mosaics. The 

extracted segment was about two sectors long (4350 samples) but 

did not start· on a sector, boundary. The start azimuths for the 

ranging mosaics is: 

170.0 for camera 1 front 

0.0 for camera 2 front 

360.0 for camera 1 rear 

174.0 for camera 2 rear 

4. After calculating the azimuth and elevation as described in item 2 

above, calculate the RANGER azimuth 

a I = 180- (a - 170.5) for camera 

a I = 180 - (a + 5.5) for camera 2 

* This section of the appendix is derived from a memo written by 

Arnold A. Schwartz, JPL. 

47 
Camera 2 

zero 

azimuth 

48 

Camera 1 

.;....-...,.....;...;......,.;......::~~ ___ -t~_L ... Xinternal 

170.50 

• •• • •• •• 

•• 

.tf 

•• .... 

Camera 1 

zero 

azimuth 

---~------~=:::::5:ii~~-.L------.... Xinternal 

Camera 2 

The RANGER internal azimuth is measured counterclockwise from 

the Xinternal axis, which is parallel to the negative y LACS axis. 
5. Generate the direction cosines of the viewing direction. 

x 

... v = (

COS Q') (COS al cos e) 

cosp = s~n al cos e 

cos Y Sin e 

z 

~--t-~-f--...,..-y 

e 

6. Transform to LACS coordinates: 

where T is a 3 by 3 rotation matrix which is a function of 

camera and lander. The matrix. values are defined below. The 

elements of the S vector are the direction cosines of the viewing 

direction given in LACS coordinates. 

49 
(_0.0309362 +0.0406977 -0.9986925 ) 

L1 C1, T = -0.9994010 +0.0142363 +0.0315383 

+0.0155012 +0.9990699 +0.0402329 

-0.0316184 . +0.0423075 _0.9986042) 

L1 C2, T = ( -0.9994932 +0.0022760 +0.0317429 

+0.0036158 ... 0.9991019 +0.0422141 

(0.1329880 +0.0517036 -0.989768) 

L2 C2, T = -0.9910388 +0.0195218 -0.13213P9 

+0.0124900 +0.9984715 +0.053836 11 

+0.1322667 +0.0518658 _0.9898563) 

L2 C2, T - (_0. 99121 30 +0.0082630 -0.1320151 

+0.0013321 +0.9986196 +0.0525030 

7. Finally one must take into account the locations of cameras in 

the LACS coordinate system as given below. 

LANDER (LACS coordinates) 

CAM 1 CAM 2 

X -1.58348 -1.58307 

Y +0.41249 -0.4062 

z '. +09. 46911 +0.47101 

LANDER 2, (LACS coordinatei) 

CAM 1 CAM 2 

X -1. 58269 -1.58353 

Y +0.40811 -0.40906 

Z +0.46899 +0.46847 

50 -: 
APPENDIX II 

OTHER TEAM DATA RECORD SPECIAL PRODUCTS 

. , 

The following is. a description of other special .TDR photoproducts which 

are not derived from the mosaic data sets .•.. A complete listing of.eachof' 

these products is given in the Special Prodqcts TDR catalOgue. whichina;y .. be 

'ordered from NSSDC... ..' : .• ," , .... ' 

'. I :-. ,'::, . ". 11 r, '.': .... ;~. 

A. 1,:"Mi~. ,.3X . 

. -,." ':>~. 

• r. ," . -i .. ! 

An 8-mil scanning spot size is normally used on the GRE for both blackand-white and color TDR photoproducts. The only exceptions are the products 

labelled (l-mil, 3X) .wh'ich ar-e produced on the GRE with a 1-mil spot size. 

These are individual lander images. Since the image would be rather small 

(one-eighth the size of the regular TDRs) , the images are computer-expanded 3 

times in bqth ·.horizontal and vertical dimensions prior to GRE playback. 

Addi ti'onally ~a." smoothing" algorithm is employed to avoid a blocky, .. 

appearance. . It was found that these 1-mil. products, when enlarged to a 

greater size, appear far more like conventional. photographs than do the a-mil 

products. This is mainly because a 1-mil spot approximates the resoluti'ci'n 

limit.of the.original negative film. An additional advantage of these 

photoproducts is that they can contain a much larger contiguous image than is 

possible uSirig an 8-milspot size. Enlargements from these negatives were used 

extensi vely in the NASA Special. Pllblication SP~425, '''The Martian Lanqscape". 

(This publication, Library of Congress Catalog J'7fl-6060041, is available from 

the Government Printing Office, Superintendent of Documents, Washington, D.C. 

20402.)' . 

Each photoproduct is labelled vertically along the left edge with an 

annotation label of the form : . ~ :. 

1-MIL,3X 12A001. VER-C SEG-l/1 

The term "1-MIL,3X" designates the type of product. "12A001" designates 

the ca!1lera event; "VER-C" designates that a version C (convolution filtered) 

input image was used, and "SEG-1/1" designates that only 'one segment exists 

for this image. A more extensive explanation of the various versions 

(A,B,C,D) may be found in a descriptive catalog for the Primary Mission Team 

Data Record. 

These products are contained in TDR rolls as follows: 

TDR II 43 VL-2 

TDR II 44 VL-1 

TDR II 51 VL-1, VL-2 

TDR II 54 VL-1, VL-2 

51 
B. OIFFPIC 

The term "OIFFPIC" refers to a program at the Image Processing Laboratory 

which performs a picture differencing operation on two input images. The two 

images are vertically and horizontally positioned relative to each other, the 

numberical difference taken on a pixel-by-pixel level, the result biased to 

the mid-range of the gray scale, and the result contrast stretched over the 

brightness range. Any value that varies from mid-range gray appears either 

brighter or darker than in the original image. The major purpose of picture 

differencing is to search for changes at the two lander sites. 

Each photoproduct is labelled along the left edge with an annotation 

label of the form: 

OIFFPIC 

11F193BB3 

SEQ-024 

MINUS 

SEG-1/1 

11C033BB33 

The term "OIFFPIC" describes the type of product. "11F193" and 11C033" 

are the two images being compared. The sequence numbers run from "Seq-1" 

through "Seq-102" for the OIFFPIC photoproducts. "SEG-1/1" designates that 

only one segment exists for this image. 

Histogram information is provided at the right side of the last segment 

of each image. There are four histograms, corresponding to the two input 

images, the difference between the two images, and the contrast stretched 

difference between the images. INPUT1 is the lower numbered frame count (in 

the above example C033) and INPUT2 is the higher numbered frame count (F193). 

All OIFFPIC products in the TOR have been differenced so that the time sense 

has been preserved -- that is, if the result is brighter than mid-range gray, 

the scene has become brighter over time. 

These products are contained in TOR rolls as follows: 

TOR # 46 VL-1 

TOR # 49 VL-2 

C. Special 

These special photoproducts, depicting images important to the magnetic 

properties experiment, were included in the TOR. One product (Special 003) 

was included in TOR Roll # 40, and two products (Special 001,2) on TOR Roll # 

49. These depict the backhoe magnets on the surface sampler arm on Viking 

Lander 2. 

52 
LEG 2 

(a) CAMERA ALIGNED 

CAMERA COORDINATE SYSTEM 

LEG 3 

(b) LANDER ALI GNED CAMERA COORD I NATE SYSTEM 

(e) LANDER 1 OR I ENTATI ON (d) LANDER 2 OR I ENTATI ON 

Figure 1. Camera Coordinate Systems and Orientation of Landers. 
Figure 2. 4-Sector Mosaic, L1.C2.AM, IPL PIC 10 77/10/21/012442. 
Figure 3. 2-Sector Mosaic, L1.C1.AM, Q3+Q4, IPL PIC 10 77/10/20/201659. 
Figure 4. 2-Sector Mosaic, L1.C2.AM, Q1+Q2, IPL PIC ID 77/10/11/195106. 
Fi gure 5. "DONUT", L 1. CLAM, I PL PIC I D 78/01/03/185404. 
Figure 6. VL Stereo, L1.C1.AM, Q3+Q4, IPL PIC ID 78/10/19/171012 

(Front - Left Eye). 
Figure 7. VL Stereo, L1.C2.AM, Q1+Q2, IPL PIC ID 78/10/19/175118 

(Front - Right Eye). 
Figure 8. Special VL Stereo Ll.Cl.AM, Q3+Q4 IPL PIC 10 78/10/10/185301 

(Front - Left Eye - CAMSEP = 0) .. 
Figure 9. Special VL Stereo Ll.Cl.AM, Ql+Q2 IPL PIC 10 78/09/08/113258 

(Front - Right Eye - CAMSEP = 0). 
Figure 10. Special VL Stereo, L1.C1.AM, Q3+Q4 IPL PIC ID 79/02/07/000423 

(Front - Left Eye - Node1) Uncorrected for Changing Apparent Camera 

Separation With Azimuth. 
Figure 11. Special VL Stereo, Ll.Cl.AM, Ql+Q2 IPL PIC ID 78/08/12/114001 

(Front - Right Eye - Nodel) Uncorrected for Changing Apparent Camera 

Separation With Azimuth. 
Figure 12. Special VL Stereo, L1.Cl.AM, Q3+Q4 IPL PIC 10 78/08/27/010209 

(Front - Left Eye - Height=4) Apparent Camera Height 4.008, Slant 60.0. 
Figure 13. Special VL Stereo, Ll.Cl.AM, Ql+Q2 IPL PIC 10 78/08/06/222439 

(Front - Right Eye - Height=4) Apparent Camera Height 4.024, Slant 60.0. 
Figure 14. Stereo Pair L1.C1.AM, Stereo-L IPL PIC ID .78/06/10/093912 

(SEQ - 004). 
Figure 15. stereo Pair Ll.C2.AM, Stereo-R IPL PIC 10 78/06/04/143553 

(SEQ - 004). 
Figure 16. Orthographic L1.C2.AM, IPL PIC 10 79/12/30/012037 (Azimuth Range 120-220°, 

Elevation Range 25-60°. 
.+ 

o ] j !~~~~~~~~~~+--~~~~'~-C,~fC"~~-¥:~"b~:'~i-'~'--'~+f~~'--'-01~~' '~f~-,~0~· •• '~~~~~"-·-f~·~'-~4-+-~,-+~f-~4--'--f~--"~I--~~~-~.~~~ 

.. 

'I' 

X (meters) 

VIKING LANDER 2 

~::~d~l:l:" ,::::'d ~~:-~t:,:I~:~ A~:-:_~o:;rd::::!:, Sr~t~~,c~;:2,io:~~ (film/Ion! (Jnt.rwt! ~"I.bl.) In ",,,t,,rs.) .... "" "" nv 

'M! pIOjllCf/on of ,"- lACS-l-U/. florfIT.' to tho florl~o"t., pl.,,,, through 

,,,.,,,,Igln. 

~~1!:,-r,::t:~~~~ N()¥thl.2Q.133degfft,CCWfromth.LGNporIIIIltY-IK/I, :,;r::::::~~/~~:~:=::;~t.;;':-:~;1". _ .~ __ ~ __ ~~~ __ ._~._. ____________ . __ ._. __ .. ~ _~~ ____ ~_~.S_C .. ~AL.E ___ 1 __ '_" __ '_.'.' _f,S_H_E_ET ___ (-1 __ , _ 1_) .. _.~ __ ._ ••• ____ . ____ .. ~_~_.~ ____ ~ __ ~ ____ • _______ ._-~~-'; .• •. ·.·~: ..• ~g~;,~ggcM:.::i,;:'~;;':~,~c:',"tS~~,~~,;~ggc~:i',:~," ~_ _ J~~r.~~~~~~:~~~J~J -----.~-- -~ 

Figure 17. Map Product, VL-2 Scale 1:20 (Reduced 2.5:1). 
Figure 18. Range Data Sets (Profiles) Overlain on High Resolution Mosaics 

L2.C2.AM - Back. IPL PIC 10 79/10/08/234537. 
Figure 19. Range Data Sets (Contours) Overlain on Standard VL Stereo 

L2.Cl.AM - Front. IPL PIC 10 79/09/03/064209. 
Figure 20. Range Data Sets (Contours) Overlain on Standard VL Stereo 

L2.C2.AM - Front. IPL PIC ID 79/09/05/052010. 
NI\S/\ 

Natlon,,1 Aeronautics and 

Space Administration 

Goddard Space Flight Center 

Greenbelt Maryland 2077t 

NSSDC/WDC-A-R&S ORDER FORM 

FOR VIKING MISSION DATA 

Researchers WITHIN the United States send order to: 

NATIONAL SPACE SCIENCE DATA CENTER 

CODE 601.4 

GODDARD SPACE FLIGHT CENTER 

GREENBELT, MARYLAND 20771 

REQUESTER INFORMATION (Please print) 

NAME 

ORGANIZATION 

ADDRESS 

CITY 

ZIP CODE OR COUNTRY 

DATE OF REOUEST I DATE DATA DESIRED 

INTENDED USE O~ MATERIAL (Check all that apply) 

o Support of a NASA effort (project, study, etc.) 

o Support of a U.S. Government effort (other than NASA) 

o Research and analysis project (individual or company) 

o Educational purposes (explain below) 

o Preparation of Master's thesis 

o Other: 

Researchers OUTSIDE the United States send order to: 

WORLD DATA CENTER A 

ROCKETS AND SATELLITES 

CODE 601 

GODDARD SPACE FLIGHT CENTER 

GREENBELT, MARYLAND 20771 U.S.A. 

TITLE 

STATE 

TELEPHONE (Area Code) (Number) (Ext.) 

(Our average processing time for a request is J to 4 weeks 

after receipt of request. Please allow ample time for delivery. 

We will notify you if we cannot meet the date specified.) 

o Preparation of Doctoral thesis 

o Exhibit or display 

o Reference material 

o Use in publication 

Please state briefly the research project(s) in which you are engaged and if you plan to prepare any articles for publication. If 

so, please acknowledge NSSDC/WDC·A·R&S as the source of the material and send us a copy of your publication for our 

records. 

601-77 (5/78) 
1. Report No. J 2. Government Accession No. 3. Recipient's Catalog No. 

NASA CR-3326 

4. Title and Subtitle 5. Report Date 

The Mosaics of Mars September 1980 

As Seen By the Viking Lander Cameras 6. Performing Organization Code 

7. Author(s) 8. Performing Organization Report No. 

Elliott C. Levinthal and Kenneth L. Jones 

10. Work Unit No. 

9. Performing Organization Name and Address 

Stanford University 11. Contract or Grant No. Stanford, California 94305 NSG-7538 

13. Type 01 Report 

12. Sponsoring Agency Name and Address Contractor Report National Aeronautics and Space Administration 

Washington, 14. Sponsoring Agency Code D.C. 20546 

15. Supplementary Notes 

Elliott C. Levinthal: Stanford University. 

Kenneth L. Jones: Jet Propulsion Laboratory, Pasadena, California 9l103. 

Technical Monitor: Joseph Boyce, NASA Headquarters. 

16. Abstract 

This publication describes the mosaics and derivative products produced from many individual high resolution images acquired by the Viking Lander Camera Systems. 

Ten mosaics were produced; a morning and afternoon mosaic for both cameras at the 

Lander I Chryse Planit;a site, and a morning, noon, and afternoon camera pair at Utopia Planitia, the Lander II site. 

The derived products include special geometric projections of the mosaic data sets, polar stereographic ("donut"), stereoscopic, and orthographic. Additionally, the 

mosaics were used to produce contour maps and vertical profiles of the topography. These map products were then overlaid on the mosaics from which they were derived. 

Sets of stereo pairs were extracted and enlarged from stereoscopic projections of the 

mosaics. A movie, "Mars In 3-D", was made from some of these same stereoscopic projections. 

For all of these products, the method by which they were created is described. In 

addition, information is given concerning the final forms of the various products that are available and how they may be procured. It is believed that these mosaic products wi 11 serve much of the need for Viking Lander imaging data. 

The products described in this publication are in a speci al products category of the 

Team Data Record (TOR) of the Lander Imaging Team. A few additional products, also 

in this category, but not derived from the mosaics, are described in an appendix. 

17. Key Words (Suggested by Author(sll 18. Distribution Statement 

Viking Imaging Unclassified - Unl imited Mars Mosaics 

Lander Stereo STAR Category - 91 

19. Security Classil. (01 this report) 20. Security Classil. (of this page) 21. No. 01 Pages 22. Price 

Unclassified Unclassified 98 ADS 

For sale by the National Technical Information Service. Springfield. Virginia 22161 

NASA-Lang 1 ey. 1980 
End of Document