Enhancing Stereo Image Formation and Depth Map Estimation for Mastcam Images
Chiman Kwan, Bryan Chou, Bulent Ayhan · 2018
There are two multispectral Mastcam imagers in the Mars Science Laboratory (MSL) onboard the Mars rover Curiosity. The left imager has three times lower resolution than that of the right imager. This paper summarizes some new results in enhancing the stereo images and depth maps using the left and right Mastcam images. Our goal is to investigate the fusion of the left and right images to generate high quality stereo images and depth maps. We first enhance the left images with help from the right images. We then combine the improved left images and the original high resolution right images to create high quality stereo and depth maps. Actual Mastcam images were used in our experiments. Results indicated that the proposed approach works to a certain extent. There is still room for performance improvement.