Landed Planetary Sensor Model Support with the Community Sensor Model

This note describes recent work to develop landed planetary sensor model support conforming to the widely adopted Community Sensor Model (CSM) standard. We describe the CSM specification and its use in the planetary sciences, introduce the test sensors carried aboard the Mars Science Laboratory Curiosity Rover, and describe the engineering research requirements fulfilled. Ultimately, we demonstrate use of a CSM framing sensor model for the NavCam and MastCam instruments including stereo terrain extraction and map projection using the NASA Ames Stereo Pipeline over a multi-day traverse and multi-image correspondence identification needed as an input to stereophotogrammetric block bundle adjustment using the USGS-maintained Integrated Software for Imagers and Spectrometers library.