High-Resolution and Spatial-Continuous 3-D Model Reconstruction of Martian Surface by Integrating Multisensor Data of Zhurong Rover

The navigation camera images of Zhurong Rover can be utilized to reconstruct high-resolution 3-D models, which play a vital role in scientific analysis and engineering tasks. Existing studies can effectively obtain individual block 3-D models within localized regions. However, due to the unique operational and environmental conditions of the Mars rovers, it is difficult to provide corresponding points as well as a unified coordinate system for all individual block models. This also results in reconstructed models that cannot be validated and corrected, and it is not possible to stitch multiple individual models together. Fortunately, the inertial measurement unit (IMU) of the Zhurong Rover provides continuous coordinate information along the trajectory. Building upon this, we proposed a rover-oriented model reconstruction (ROMR) method that effectively corrects the drift error of the IMU track. Then, it converts all individual block models, derived from navigation camera images, into a unified coordinate system, ultimately achieving a spatially continuous 3-D model. We validated the ROMR method using the first batch of data from the Zhurong Rover (the first 46 navigation points) and generated a high-resolution 3-D model as well as a precise digital elevation model (DEM) along the trajectory. Within a 10 m radius of the travel path, the average resolution can reach 5 cm/pixel. Subsequently, we analyzed the fine landform texture and weathering effects on the Martian surface, yielding crucial insights to unravel the paleoclimate changes on Mars.