Dig Hazard Assessment Using a Stereo Pair of Cameras

This software evaluates the terrain within reach of a lander’s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander’s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth.