A Novel Pixel-Level Image Matching Method for Mars Express HRSC Linear Pushbroom Imagery Using Approximate Orthophotos

Mars topographic data, such as digital orthophoto maps (DOMs) and digital elevation models (DEMs) are essential to planetary science and exploration missions. The main objective of our study is to generate a higher resolution DEM using the Mars Express (MEX) High Resolution Stereo Camera (HRSC). This paper presents a novel pixel-level image matching method for HRSC linear pushbroom imagery. We suggest that image matching firstly be carried out on the approximate orthophotos. Then, the matched points are converted to the original images for forward intersection. The proposed method adopts some practical strategies such as hierarchical image matching and normalized cross-correlation (NCC). The characteristic strategies are: (1) the generation of a DEM and a DOM at each pyramid level; (2) the use of the generated DEM at the current pyramid level as reference data to generate approximate orthophotos at the next pyramid level; and (3) the use of the ground point coordinates of orthophotos to estimate the approximate positions of conjugate points. Hence, the refined DEM is used in the image rectification process, and pixel coordinate displacements of conjugate points on the approximate orthophotos will become smaller and smaller. Four experimental datasets acquired by the HRSC were used to verify the proposed method. The generated DEM was compared with the HRSC Level-4 DEM product. Experimental results demonstrate that an accurate and precise Mars DEM can be generated with the proposed method. The approximate positions of the conjugate points can be estimated with an accuracy of three pixels at the original image resolution level. Though slight systematic errors of about two pixels were observed, the generated DEM results show good consistency with the HRSC Level-4 DEM.