Lunar LRO NAC Haworth Photoclinometry DEM 1m v3
This is a shape-from-shading (SfS or photoclinometry) digital elevation model (DEM) for the Haworth area. The Haworth area is beyond the north rim of Haworth crater and centered at 338.0 (-21.0) E, -86.8 S on the Moon, its bounding box is approximately:
Upper Left 337.17387 E, -86.59046 Lower Left 334.27226 E, -86.95283 Upper Right 343.37578 E, -86.72032 Lower Right 341.12851 E, -87.09890
In brief, photoclinometry (or shape-from-shading) uses image pixel brightness, incidence and emission angles, and a photometric function to solve the inverse problem of what shape of surface produces the images observed. It can produce terrain with information approaching the pixel scale of the images. The best results come from an area with many images, and with those images having a variety of lighting directions, as this situation provides better constraints on the solution (because the derived surface must be able to produce each image when lit similarly).
These data products technically fit the definition of "foundational" data products (Laura and Beyer, 2021) even though they contain artifacts. The source LROC image data from which the topography and mosaic products are created are "controlled" by means of bundle adjustment to the LOLA 5 m/pixel polar product (Barker, et al., 2021). These data are "absolutely controlled" because they are rigorously tied to the underlying LOLA geodetic coordinate reference frame.
The LOLA and SfS-DEM products are orthonormic heights relative to the mean lunar radius of 1,737,400 m. It is important to note that the SfS-DEM data do not have fundamentally different absolute RMS errors from the errors reported for the LOLA data. The SfS-DEM data points are simply different estimates of elevation than the LOLA data points, but absolute RMS errors are the same as the parent LOLA data set.
All map-projected data in this directory is in the polar stereographic projection, defined with the following PROJ.4 String: +proj=stere +lat_0=-90 +lon_0=0 +k=1 +x_0=0 +y_0=0 +R=1737400 +units=m +no_defs
The data files available are:
- Lunar_LROnac_Haworth_sfs-dem_1m_v3.tif (*.lbl) Shape from Shading Digital Terrain Model as a GeoTIFF with 32-bit pixels indicating the elevation (n meters) with respect to the lunar radius of 1,737,400 m at 1 m/pixel. There are some large patches that had to be filled in with LOLA data, and some areas where the process has left obvious artifacts.
- Lunar_LROnac_Haworth_sfs-dem_shade_1m_v3.tif (*.lbl) The above SfS DTM hillshaded.
Note: This was an early terrain-only product created before our general process for lunar polar terrain was refined and expanded to include ortho-rectified LROC images, height-error maps, and a map clearly showing which pixels had LOLA data and which SfS terrain data.
References:
Alexandrov, O. & R. A. Beyer (2018), Multiview shape-from-shading for planetary images, Earth and Space Science, 5, 652-666, https://doi.org/10.1029/2018EA000390.
Barker et al., 2021, Improved LOLA elevation maps for south pole landing sites: Error estimates and their impact on illumination conditions, Planetary and Space Science, Volume 203, 1 September, https://doi.org/10.1016/j.pss.2020.105119.
Beyer, R. A, O. Alexandrov, S. McMichael, et al. (2020), NeoGeographyToolkit/StereoPipeline 2.7.0, Zenodo, https://doi.org/10.5281/zenodo.3963341.
GDAL/OGR contributors (2020), GDAL/OGR Geospatial Data Abstraction Software Library, Open Source Geospatial Foundation, https://www.gdal.org.
Laura, J. R. & R. A. Beyer (2021), Knowledge Inventory of Foundational Data Products in Planetary Science, Planetary Science Journal, Volume 2, 18, https://doi.org/10.3847/PSJ/abcb94.
Sucharski, et al. (2020), ISIS 4.1.1 Public Release. Zenodo, https://doi.org/10.5281/zenodo.3895316.
- Publisher
- NASA Ames
- Publication Date
- 15 January 2021
- Author
- NASA Ames
- Originator
- Molly O'Connor, Ross A. Beyer
- Group
- PDS
- Added to Astropedia
- 20 August 2021
- Modified
- 15 December 2021
General
- Purpose
The creation of these products was funded by the VIPER Project.
- Geospatial Data Presentation Form
- Digital Elevation Model, Topographic Map, Raster Data, Remote-sensing Data, Shaded-Relief Map, Grey Scale
- Edition
- Version
- Online Linkage
- https://planetarymaps.usgs.gov/mosaic/Lunar_Photoclinometry/Haworth-SfS/Lunar_LROnac_Haworth_sfs-dem_1m_v3.tif
- Native Data Set Environment
- GDAL, ISIS v3, ESRI Arcinfo
- Color
- Black and White
- Supplemental Information
- https://doi.org/10.1029/2018EA000390, https://doi.org/10.1016/j.pss.2020.105119, https://doi.org/10.5281/zenodo.3963341
Keywords
- System
- Earth
- Target
- Moon
- Theme
- Photoclinometry, Image Processing, Topography, Photogrammetry, Remote Sensing, Roving vehicles
- Mission
- Lunar Reconnaissance Orbiter
- Mission Specific
- Instrument
- LROC
- Search Terms
- DEM, DTM, SfS, shape-from-shading, photoclinometry, VIPER, Lunar, south pole
Contact and Distribution
- Access Constraints
- please cite authors
- Use Constraints
- public domain
Data Status and Quality
- Time Period of Content Begin
- 15 January 2021
- Time Period of Content End
- 15 January 2021
- Currentness Reference
- Publication date
- Progress
- Complete
- Update Frequency
- As needed
- Logical Consistency Report
- These data products technically fit the definition of "foundational" data products (Laura and Beyer, 2021) even though they contain artifacts. The source LROC image data from which the topography and mosaic products are created are "controlled" by means of bundle adjustment to the LOLA 5 m/pixel polar product. These data are "absolutely controlled" because they are rigorously tied to the underlying LOLA geodetic coordinate reference frame.
- Completeness Report
There are some large patches that had to be filled in with LOLA data, and some areas where the process has left obvious artifacts.
- Process Description
The Integrated Software for Imagers and Spectrometers (ISIS, v4.1.1, Sucharski, et al., 2020) was used for initial processing of the Lunar Reconnaissance Orbiter Camera (LROC) images that contributed to this terrain model. The NASA Ames Stereo Pipeline (ASP, v 2.7.0, Beyer, et al., 2020) was used for creation of the shape-from-shading terrain model, specifically the techniques in Alexandrov & Beyer (2018). The Geospatial Data Abstraction Library (GDAL, 2020) was used to create the hillshade map.
- Horizontal Positional Accuracy Value
- 0.2
- Horizontal Positional Accuracy Report
- Accurate to Control Net
- Vertical Positional Accuracy Value
- 0.5
- Vertical Positional Accuracy Report
- Accurate to Control Net
- Entity and Attribute Overview
- The LOLA and SfS-DEM products are orthonormic heights relative to the mean lunar radius of 1, 737, 400 m
- Entity and Attribute Detailed Description
- It is important to note that the SfS-DEM data do not have fundamentally different absolute RMS errors from the errors reported for the LOLA data. The SfS-DEM data points are simply different estimates of elevation than the LOLA data points, but absolute RMS errors are the same as the parent LOLA data set.
- Entity and Attribute Linkage
- https://doi.org/10.1016/j.pss.2020.105119
Lineage
- PDS Status
- PDS 4 Like
- Source PDS Archive
- Lunar Reconnaissance Orbiter
- Source Originator
- PDS
- Source Title
- LRO LROC and LOLA PDS Archives
- Source Online Linkage
- https://pds.lroc.asu.edu/data/, https://pgda.gsfc.nasa.gov/products/78
- Type of Source Media
- Online
- Attribute Accuracy Report
- Accurate to Control Net
Geospatial Information
- Feature Name
- Haworth crater
- Minimum Latitude
- -87.09890342731742
- Maximum Latitude
- -86.59046214259241
- Minimum Longitude
- -25.72774505919917
- Maximum Longitude
- -16.624216585089282
- Direct Spatial Reference Method
- Raster
- Object Type
- Pixel
- Lines (pixels)
- 12060
- Samples (pixels)
- 11660
- Bit Type
- 32
- Radius A
- 1737400
- Radius C
- 1737400
- Control Net
- LOLA, see Barker 2021
- Bands
- 1
- Pixel Resolution (meters/pixel)
- 1
- Scale (pixels/degree)
- 30323.35042414948
- Horizontal Coordinate System Units
- Meters
- Map Projection Name
- Polar Stereographic
- Latitude Type
- Planetocentric
- Longitude Direction
- Positive East
- Longitude Domain
- -180 to 180