Automated Targeting for the MSL Rover ChemCam Spectrometer

The Autonomous Exploration for Gathering Increased Science (AEGIS) system enables automated science data collection by a planetary rover. AEGIS analyzes rover images onboard to detect pre-defined science features of interest, enabling targeted instrument data to be acquired immediately with no delays for ground communication. AEGIS analyses images to detect candidate targets and then selects specific features for followup measurements based on scientist-specified objectives. This paper describes the application of AEGIS for use with the Mars Science Laboratory (MSL) mission ChemCam spectrometer. ChemCam uses a Laser Induced Breakdown Spectrometer (LIBS) to analyze the elemental composition of rocks and soil. AEGIS applies to ChemCam in two ways. The first involves automated targeting of ChemCam during or after long drives by finding rock targets in Navigation Camera images. The second involves refining ChemCam pointing by detecting small targets, such as veins or concretions, in Remote Micro Imager images. This paper describes both of these applications.