Rock Segmentation Through Edge Regrouping

Rockster is an algorithm that automatically identifies the locations and boundaries of rocks imaged by the rover hazard cameras (hazcams), navigation cameras (navcams), or panoramic cameras (pancams). The software uses edge detection and edge regrouping to identify closed contours that separate the rocks from the background (see figure). The algorithm has applications both in ground-based data analysis, for example, to examine large quantities of images returned by the Mars Exploration Rovers, and in onboard (on-rover) opportunistic science applications such as construction of rock maps during traverse, identification of unusual or otherwise high-value science targets that warrant additional investigation, and detection of certain types of geologic contact zones.