Validation of the 3D Vision and Visualization Frameworks PRoViP and PRo3D for the Mars2020 and ExoMars Stereo Panoramic Camera Systems

Introduction & Rationale: Planetary rover mis-sions use panoramic stereo camera systems to image rock outcrops along rover traverses, in order to charac-terize their geological history and focus the search for ancient biosignatures. Stereo imaging from the ExoMars PanCam instrument will significantly en-hance the ability of the science team to investigate terrain and geology through 3-D vision [1]. The Mars 2020 rover will also carry a Panoramic Camera System (Mastcam-Z [3]) to obtain multi-spectral stereoscopic panoramic images with a 3.6:1 zoom capability and a matched pair of zoom CCD cameras that each provides broad-band red/green/blue (RGB), narrow-band visi-ble/near-infrared (VNIR) color with 5° to 15° fields of view.