@article{PB-VRVis-2018-019,
author = {Barnes, Robert and Gupta, Sanjeev and Traxler, Christoph and Ortner, Thomas and Bauer, Arnold and Hesina, Gerd and Paar, Gerhard and Huber, Benjamin and Juhart, Kathrin and Fritz, Laura and Nauschnegg, Bernhard and Muller, Jan-Peter and Tao, Yu},
title = {Geological analysis of Martian rover-derived Digital Outcrop
  Models using the 3D visualisation tool,
  Planetary Robotics 3D Viewer {\textendash} PRo3D.},
year = {2018},
journaltitle = {Earth and Space Science},
doi = {10.1002/2018EA000374},
url = {https://www.vrvis.at/publications/PB-VRVis-2018-019},
abstract = {Abstract Panoramic camera systems on robots exploring the  surface of Mars are used to collect images of terrain and rock  outcrops which they encounter along their traverse. Image  mosaics from these cameras are essential in mapping the surface  geology and selecting locations for analysis by other  instruments on the rover's payload. 2D images do not truly  portray the depth of field of features within an image, nor  their 3D geometry. This paper describes a new 3D visualization  software tool for geological analysis of Martian rover-derived  Digital Outcrop Models (DOMs) created using photogrammetric  processing of stereo-images using the Planetary Robotics Vision  Processing (ProViP) tool developed for 3D vision processing of  ExoMars PanCam and Mars 2020 Mastcam-Z data. DOMs are rendered  in real time in the Planetary Robotics 3D Viewer PRo3D, allowing  scientists to roam outcrops as in a terrestrial field campaign.  Digitisation of point, line and polyline features is used for  measuring the physical dimensions of geological features, and  communicating interpretations. Dip and strike of bedding and  fractures is measured by digitising a polyline along the contact  or fracture trace, through which a best fit plane is plotted.  The attitude of this plane is calculated in the software. Here,  we apply these tools to analysis of sedimentary rock outcrops  and quantification of the geometry of fracture systems  encountered by the science teams of NASA's Mars Exploration  Rover Opportunity and Mars Science Laboratory rover Curiosity.  We show the benefits PRo3D allows for visualisation and  collection of geological interpretations and analyses from  rover-derived stereo-images.},
}