The NASA Mars InSight lander was successfully launched from Earth in May 2018 and is scheduled to land on Mars in November 2018. The key objective of the InSight mission is to investigate the interior structure and processes of Mars using a seismometer and heat flow probe that must first be placed onto the Martian surface by a robotic arm. The lander is equipped with two cameras to assist in this instrument deployment task. The Instrument Deployment Camera (IDC) is mounted to the lander robotic arm and will acquire images of the lander and surrounding terrain before, during, and after the instrument deployment activities. The IDC has a field of view (FOV) of 45∘×45∘$45^{\circ} \times45^{\circ}$ and an angular resolution of 0.82 mrad/pixel at the center of the image. The Instrument Context Camera (ICC) is mounted to the lander and will acquire wide-angle views of the instrument deployment activities. The ICC has a FOV of 124∘×124∘$124^{\circ} \times124^{\circ}$ and an angular FOV of 2.1 mrad/pixel at the center of the image. The IDC and ICC cameras are flight spare engineering cameras from the Mars Science Laboratory (MSL) mission. The InSight project upgraded the inherited cameras from single-channel greyscale to red/green/blue (RGB) color by replacing the detector with a Bayer-pattern version of the same 1024pixel×1024pixel$1024~\mbox{pixel} \times1024~\mbox{pixel}$ detector. Stereo IDC image pairs, acquired by moving the arm between images, are critical for characterizing the topography of the instrument deployment workspace, a 4meter×6meter$4~\mbox{meter} \times 6~\mbox{meter}$ area located in front of the lander. Images from the cameras are processed using software from previous Mars surface missions, with several new image products developed for InSight to support instrument placement activities. This paper provides a brief description of the IDC/ICC hardware and related image processing.

中文翻译：

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InSight Lander 上的彩色相机

美国宇航局火星洞察号着陆器于 2018 年 5 月从地球成功发射，计划于 2018 年 11 月登陆火星。洞察号任务的主要目标是使用地震仪和热流探测器研究火星的内部结构和过程，该探测器必须首先由机械臂放置在火星表面。着陆器配备了两个摄像头，以协助完成这项仪器部署任务。仪器部署相机 (IDC) 安装在着陆器机械臂上，将在仪器部署活动之前、期间和之后获取着陆器和周围地形的图像。IDC 的视野 (FOV) 为 45∘×45∘$45^{\circ} \times45^{\circ}$，图像中心的角分辨率为 0.82 mrad/pixel。仪器背景摄像头 (ICC) 安装在着陆器上，将获取仪器部署活动的广角视图。ICC 的 FOV 为 124∘×124∘$124^{\circ} \times124^{\circ}$，图像中心的角 FOV 为 2.1 mrad/pixel。IDC 和 ICC 相机是来自火星科学实验室 (MSL) 任务的飞行备用工程相机。InSight 项目通过用相同 1024pixel×1024pixel$1024~\mbox{pixel}\times1024~\mbox 的 Bayer 模式版本替换探测器，将继承的相机从单通道灰度升级为红/绿/蓝 (RGB) 颜色{pixel}$ 检测器。通过在图像之间移动手臂获得的立体 IDC 图像对对于表征仪器部署工作区的地形至关重要，位于着陆器前方的 4meter×6meter$4~\mbox{meter} \times 6~\mbox{meter}$ 区域。来自相机的图像使用之前火星表面任务的软件进行处理，并为 InSight 开发了几种新的图像产品，以支持仪器放置活动。本文简要介绍了IDC/ICC硬件及相关图像处理。