Rover Camera

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Camera System
This section covers the camera system mounted on the Rover(s). Bus and Lander might use different systems. Check for this the Imagery Portal. Only camera specifications and requirements will be treated here, not the wireless broadcast distance, video duration or time when a video will be taken.

Elphel Imaging Solutions sponsored the Rover Group a HD Network video camera with the following configuration:

Requirements by GLXP (Version 3)

^{Extracted from our exponsor Elphel summary GLXP requirements and created by Tobiokanobi}
Some requirements specified by the X PRIZE Foundation are not very exact (e.g. "framerate", "near realtime video"). By our best estimates, the image and video technology offered by Elphel is more advanced than the minimum requirements, and therefore provides a good solution that allows us to meet these requirements. Please note, however, that the specific rules provided by the X PRIZE Foundation are still subject to (hopefully now minor) revisions.

Images

High quality, show intended contends clear and recognizable
Minimum eight bits per pixel per color
Signal to noise ratio 50:1 for scene of albedo approximately to 0.1
Minimum Resolution: 0,3 millirands/pixel
Color
Calibrated for Color Correction
Reasonable Resolution
Reasonable contrast at the pixel level, such as would be provided with a system Sagittal and Meridional Modulation Transfer function of 40% in the entire focal plane for the entire spectral range at the Nyquist frequency

Panoramic Images

Horizon Level
Horizontal Dimensions: 360°
Vertical Dimensions: 120°

Detail Images

Logos clearly legible

Videos

Near real time videos shall have the following attributes after processing
Resolution: 320 x 240
Orientative bitrate: 256kbps
High Definition Video shall have the following attributes after processing:
Resolution: 1280 x 720 progressive scan (720p)
All Videos shall be high quality
Frame rate appropriate to the action in the frame, and which results in smooth motion
In color
Calibrated for color correction

Bandwith

The GLXP doesn't require any bandwidth, just sufficiently high quality. The orientative bitrate 450 kbps comes from knowledge about a recently developed proprietary codec based on H.264 that probably runs in an ASIC or FPGA, combined with the motion profile and limited color space of a video recorded on the moon. I have not actually seen it, just heard about it.

Other than that, we can chose 450 kbps for video + 50 kbps for telemetry. If we can not do 1280x720 25p at sufficient quality with 450kbps we can scale down the size and/or frame rate. In any case, it'd be a good idea to lock the downlink bandwidth. --AlexC

Requirements by Frednet

^{Extracted from our exponsor Elphel additional requirements and created by Tobiokanobi}

Video and Images

If possible, we can exceeed the minimum requirements. E.g. we plan to provide 5Mpixel images, higher framerates (15fps, 29fps, ...), and more where this is technologically feasible without significantly impacting the budget for the overall Mission.
Extra bonus is not the main target in Team FREDNET mission but if is possible we will provide a HD camera with 10x optical zoom + 30x digital zoom that could be done more than 10 km away from the site in order to capture any heritage site. GLXP rules don't require visiting a heritage site just imaging it. --AlexC

Image stabilization

Visual stability in video is an interesting subject. A more stable source image within the Elphel engine will require less network bandwidth. Some software image stabilization across source frames may be interesting if possible.

Environmental Conditions

The Moon's surface creates a plethora of hazards to electrical and electronic systems. Because of the importance of the video and imagery systems to Mission success, the cameras, lenses, and sensing units must be afforded extra degrees of protection. The primary risks against which we must take protective measures include:

Radiation - primarily alpha, beta, and gamma rays
Electromagnetic radiation
Extreme heat (390K) during journey to Luna and during the Lunar day
Extreme cold (down to 100K) during journey to Luna and during the Lunar night
Lunar Regolith (sticks to and penetrates everything. Lenses require extra protection)
Shock/Impact due to collisions with obstacles, and travel over rough surface
Vibration during Launch, Journey, and Landing
Acceleration (high g-forces) especially during Launch and Landing
Low Pressure Environment

Team FREDNET will develop a casing for the camera and sensor unit which provides sufficient protection against these risks.

Video Encoding

Open Source Encoding

Video Format

Open source video format like

.ogg
.ogv

Developed by Xiph.org Foundation

Data streaming is defined through RFC5334

Image Format

CMOS/CCD Sensor

Aptina MT9P031 5MPix (2592x1944) sensor

Temperature Range from -30°C up to +70°C operational

Encoding Hardware

Elphel 10353 Processor Board

Optical Device

C/CF Mount
12mm (?)

...not defined yet...

RS232 Protocol

Please specify how to command the camera here...

Example of integration in our Lunar Rovers

The WRV1 case

The Jaluro case having a main cam and a web cam

The PicoRover case requires to separate sthe sensor from the camera board

Links

Elphel Imaging Solutions