CHAMP: camera, hand lens, and microscope probe

CHAMP (camera, hand lens and microscope probe) is a field microscope capable of color imaging with continuously variable spatial resolution from infinity imaging down to diffraction-limited microscopy (-3 /spl mu/m/pixel). As a robotic arm-mounted imager, CHAMP supports stereo-imaging with variable baselines, can continuously image targets at an increasing magnification during an arm approach, can provide precision range-finding estimates to targets, and can accommodate microscopic imaging of rough surfaces through a image filtering process called z-stacking. CHAMP was originally developed through the Mars Instrument Development Program (MIDP) in support of robotic field investigations, but may also find application in new areas such as robotic in-orbit servicing and maintenance operations associated with spacecraft and human operations. We overview CHAMP's instrument performance and basic design consideration.