The ESA-Roscosmos ExoMars platform and rover mission will have complex interactions with the martian surface. In order to plan and perform landing, roving and scientific operations, the morphological characteristics of the terrain surrounding the rover need to be characterized from the decameter to the centimeter spatial scale. The smallest possible features currently identifiable are typically >0.75 ​m in size, corresponding to three times the ground sampling resolution of the High Resolution Imaging Science Experiment (HiRISE) camera on NASA's Mars Reconnaissance Orbiter (MRO). We have developed a synthetic topography with a ground sampling resolution of 0.01 ​m by integrating 1) a modeled topography of small-scale topographic features (e.g., rocks) into 2) a 0.25 ​m resolution digital elevation model (DTM) built by applying stereo and shape-from-shading techniques to HiRISE data. The modeled topography of small-scale topographic features is based on the extrapolation of the abundance and spatial distribution pattern of geological features measurable in HiRISE data. We determined that the cumulative fractional area covered by relief, i.e., float blocks and ridged outcrops, over the entire Oxia Planum landing site spans the range 0–30% with a mean abundance of relief of 7 ​± ​5%. The synthetic topography can be used for highly realistic environment simulations and rover drive planning. Artificial rover camera images produced with the synthetic topography incorporate orbital-based geomorphological units and can be used for improved planning and analyses of actual rover images.

ESA-Roscosmos ExoMars 平台和漫游车任务将与火星表面发生复杂的相互作用。为了规划和执行着陆、漫游和科学作业，需要从十米到厘米的空间尺度表征漫游车周围地形的形态特征。目前可识别的最小特征通常大于 0.75 米，相当于美国宇航局火星侦察轨道飞行器 (MRO) 上高分辨率成像科学实验 (HiRISE) 相机的地面采样分辨率的三倍。我们开发了一种地面采样分辨率为 0.01 米的合成地形，通过整合 1) 小规模地形特征的建模地形（例如，岩石）转化为 2）0.25 米分辨率的数字高程模型 (DTM)，它是通过将立体和阴影形状技术应用于 HiRISE 数据而构建的。小尺度地形特征的模拟地形基于对 HiRISE 数据中可测量的地质特征的丰度和空间分布模式的外推。我们确定整个 Oxia Planum 着陆点上浮雕覆盖的累积部分面积（即浮块和脊状露头）跨越 0-30% 的范围，浮雕的平均丰度为 7±5%。合成地形可用于高度逼真的环境模拟和漫游车驱动规划。使用合成地形生成的人工漫游车相机图像包含基于轨道的地貌单位，可用于改进实际漫游车图像的规划和分析。