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Title: Color Images from Mars Rovers

Author: Bob Webster

Release date: April 1, 2004 [eBook #12082]
Most recently updated: January 7, 2023

Language: English

Other information and formats: www.gutenberg.org/ebooks/12082

Credits: Bob Webster

*** START OF THE PROJECT GUTENBERG EBOOK COLOR
IMAGES FROM MARS ROVERS ***

Color Images from Mars
Rovers

by Bob Webster

Thanks to Bob Webster for making these images available.
They are recombinations of images with different colored
filters. All images are courtesy of NASA/JPL and in the
public domain in the United States.

Mars Attacks!

I was browsing the NASA web site for photos from the Mars rovers, but
most of them are black and white. Then I noticed they have the raw images
posted that can be combined into color photos, so I combined a bunch of
them into "living color." Here they are:

Mars in Color, from “Opportunity”
Opportunity Photos
Mars in Color, from “Spirit”
Spirit Photos

The color is not perfect on these, but it should be in the neighborhood.
There are a lot of variables. The cameras are calibrated differently from
time to time, there are different bandwidths available in different images,
and the sun is at different angles.
In these photos, 3 to 6 images were taken, one after another, using
different bandwidth filters. There may be 5 minutes pass from the first to
the last image, so a shadow may move a little bit during that time. An
interesting effect of this is an occasional rainbow strip on the edge of
shadows.

The image file names include information such as camera type, time
taken, location, etc. Here is the full info:

http://origin.mars5.jpl.nasa.gov/gallery/edr_filename_key.ht
ml

The image on this site have the filter and sometimes the Left or Right
designator removed. If L or R is missing, then they were taken with the Left
camera, which uses visible light filters.
These images were taken with the panoramic camera, because it's the one
that uses color filters. The filters used vary from image to image. The
available filters are:

Left Camera Right Camera
1 = 436nm (37nm Short-
1 = EMPTY (clear)
pass)
2 = 753nm (20nm 2 = 754nm (20nm
bandpass) bandpass)
3 = 673nm (16nm 3 = 803nm (20nm
bandpass) bandpass)
4 = 601nm (17nm 4 = 864nm (17nm
bandpass) bandpass)
5 = 535nm (20nm 5 = 904nm (26nm
bandpass) bandpass)
6 = 482nm (25nm 6 = 934nm (25nm
bandpass) bandpass)
7 = 432nm (32nm Short- 7 = 1009nm (38nm Long-
pass) pass)
8 = 440nm (20) Solar 8 = 880nm (20) Solar ND
ND 5.0 5.0

Some bandwidths of visible light are:

red 650
orange 590
yellow 570
green 510
blue 475
indigo 445
violet 400
Everything gets kind of fuzzy from this point on. The visible light
bandwidths are not even sharply delimited. The bandwidths in the Martian
cameras don't necessarily match the color bandwidths on Earthling
computers. In a lot of the images some of the bandwidths are missing. For
example, this image:

only uses filters 4, 5, and 7, which more or less correspond to reddish-
orange, yellow-green, and violet. There is a hole or two in the spectrum,
notably red and blue, so it ends up looking a little weird. But it's still much
better than black and white.
Some of the images from Mars use filters 2, 5, and 7, or some wide range
like that. This provides more information for scientific analysis, but it
doesn't look normal when combined. That is, if there is a "normal" for
pictures from Mars. I skipped most of these.
The right pan camera filters are mainly longer wavelength in the
ultraviolet range. I only included one of those pictures, mostly because I
wondered what it would look like:

I used Photo Mud to merge the separate images. In fact, I wrote the
Merge Color Separation function in Photo Mud so I could do this. You can
download a test version here:

http://xpda.com/photomudsetup.exe

When Photo Mud version 3.0 is released in a few days, I'll replace this
file with a 30-day trial version. If you download the test version before
then, you can have a free update to the release version without a 30-day
limit. Let me know if you find any "design considerations" or other things
that don't work.
Here's where to get the latest raw images from Mars:

http://origin.mars5.jpl.nasa.gov/gallery/all

Some of the NASA pictures show mainly red on Mars, such as this
panorama:

But the colors in the corners of this sundial in the base of the photo from
looks quite a bit different on earth than on the landscape photo. There is a
lack of blue in the Mars photo, or maybe even a translation of blue to red.
There's probably a good reason for this, since NASA has better software
and spent more time on it.

It looks to me like NASA included filter 2, infrared light, in their red
color composition. In this image with filter 2, you can see how bright the
lower right color tab is:

This one is filter 3, is visible red. The blue tab in the lower right is not
nearly as bright:

Here is a composition I did using infrared as red, and shifting the colors
toward that end of the spectrum. This is kind of like the sundial in the color
landscape.

Here's the image with "normal color" composition:

The second one looks a lot closer to the original photo above. In these
two images, the background dirt looks about the same, but these settings
make a big difference sometimes.
Photos Courtesy NASA/JPL-Caltech

Mars in Color, from “Opportunity”

4/9/2004 4/8/2004 4/7/2004 4/6/2004

4/4/2004
4/5/2004 4/5/2004 4/4/2004

4/4/2004 3/28/2004
4/3/2004 3/30/2004

3/28/2004 3/27/2004 3/24/2004 3/23/2004

3/22/2004 3/22/2004
Infrared used for red
3/20/2004
3/21/2004

filter 2 (infrared) used filter 2 (infrared) used
for red for red 3/20/2004 3/20/2004
3/20/2004 3/20/2004

3/20/2004 3/19/2004 3/18/2004 3/18/2004

3/17/2004

3/17/2004 Dubbed "Carousel," the 3/16/2004
rock in this image was
the target of the Mars
Exploration Rover
Opportunity science
team's outcrop "scuff
test." On sol 51 (March
15, 2004), Opportunity
slowly rotated its left
front wheel on the rock,
abrading it in the same
way that geology
students use a scratch
test to determine the
hardness of minerals.
The image on the right,
taken by the rover's
navigation camera on
sol 51, shows the rock
post-scuff. In this
image, it is apparent
that Opportunity
scratched the surface of
"Carousel" and

deposited dirt that it
was carrying in its
wheel rims.
3/16/2004

3/15/2004 3/15/2004 "Shoemaker's Patio" 3/14/2004
near the Mars
Exploration Rover
Opportunity's landing
site, shows finely
layered sediments,
which have been
accentuated by erosion.
The sphere-like grains
or "blueberries"
distributed throughout
the outcrop can be seen
lining up with
individual layers. This
observation indicates
that the spherules are
geologic features called
concretions, which
form in pre-existing
wet sediments. Other
sphere-like grains, such
as impact spherules or
volcanic lapilli
(fragments of material
between 2 and 64
millimeters or .08 and
2.5 inches in maximum
dimension that are
ejected from a volcano)
are thought to be
deposited with
sediments and thus
would form layers
distinct from those of
the rocks. This image
was captured by the
rover's panoramic
camera on the 50th

martian day, or sol, of
the mission.
3/15/2004

This image is of the
3/14/2004 exceptional rock called 3/13/2004 3/12/2004
"Berry Bowl" in the
"Eagle Crater" outcrop.
The study of this
"blueberry-strewn" area
and the identification of
hematite as the major
iron-bearing element
within these sphere-like
grains helped scientists
confirm their
hypothesis that the
hematite in these
martian spherules was
deposited in water. To
separately analyze the
mineralogical content
of three main features
within this area --
blueberries, dust and
rock -- it was important
that the rock abrasion
tool's brush was able to
rest on a relatively
berry-free spot. The
rock's small size and
crowd of berries made
the 10-minute brushing
a challenge to plan and
execute. The successful
brushing on the target
whimsically referred to
as "Near Empty" on the
rover's 48th sol on
Mars left a dust-free
impression for
subsequent
examination by the

rover's spectrometers.
No grinding was
necessary on the rock
because spectral data
obtained on the dust-
free surface were
sufficient to verify that
the rock's chemical
composition differs
significantly from the
hematite-rich berries.
3/13/2004

The sphere-like grains
or "blueberries"
distributed throughout
the outcrop can be seen
lining up with
individual layers. This
observation indicates
that the spherules are
geologic features called
concretions, which
form in pre-existing
wet sediments. Other
sphere-like grains, such
as impact spherules or 3/11/2004
3/12/2004 3/11/2004
volcanic lapilli
(fragments of material
between 2 and 64
millimeters or .08 and
2.5 inches in maximum
dimension that are
ejected from a volcano)
are thought to be
deposited with
sediments and thus
would form layers
distinct from those of
the rocks.
3/11/2004

the 3.1 millimeter-deep 3/10/2004 3/9/2004 3/8/2004
(just over one-tenth of
an inch) hole ground by
the Mars Exploration
Rover Opportunity's
rock abrasion tool in
the target called "Mojo
2" on "Flatrock" was
taken on the 44th
martian day, or sol, of
the mission. It will help
complete the chemical
analysis of the lowest
layer of the outcrop in
the crater where the
rover now resides.
After a brief brushing
on sol 45, the science
team plans to place
Opportunity's
spectrometers on the
hole to collect data
vital to their
understanding of this
impressive outcrop.

Scientists believe that
the spherule or
"blueberry" in the
upper right area of the
circular impression was
sliced in half by the
rock abrasion tool.
"Blueberries" are a
known obstruction to
the grinding tool that
cause it to terminate its
sequence. Despite the
stall, the rock abrasion
tool abraded "Flatrock"
for one hour and five
minutes, producing a

cavity ripe for
investigation.
3/10/2004

This hole was made by
the rover's rock
abrasion tool, located
on its instrument
deployment device, or
"arm." The hole is
located on a target
called "McKittrick" at
the "El Capitan" region
of the Meridiani
Planum, Mars, rock
outcrop. It was made
on the 30th martian
3/7/2004 day, or sol, of
3/7/2004 2/29/2004
Opportunity's journey.

The grinding process at
has generated a
significant amount of
reddish dust. Color and
spectral properties of
the dust show that it
may contain some fine-
grained crystalline red
hematite.

Courtesy NASA/JPL
3/1/2004

2/28/2004

This hole was made by The silver colored 2/28/2004
the rover's rock metal of the ring on the
abrasion tool, located solar abrasion tool is a
on its instrument reddish brown after the

deployment device, or dust settled on it,
"arm." The hole is probably from fine-
located on a target grained hematite.
called "Guadalupe" at 2/29/2004
the "El Capitan" region
of the Meridiani
Planum, Mars, rock
outcrop. It was made
on the 30th martian
day, or sol, of
Opportunity's journey.

The grinding process at
has generated a
significant amount of
reddish dust. Color and
spectral properties of
the dust show that it
may contain some fine-
grained crystalline red
hematite.
2/29/2004

The image is from the
right pan camera, made
2/27/2004 2/27/2004 2/22/2004 up of ultraviolet
bandwidths.
2/20/2004

2/20/2004 The "El Capitan" 2/20/2004 The "El Capitan"
region of the rock region of the rock
outcrop at Meridiani outcrop at Meridiani
Planum, Mars. This Planum, Mars.
image shows fine, 2/20/2004
parallel lamination in
the upper area of the
rock, which also

contains scattered
sphere-shaped objects
ranging from 1 to 2
millimeters (.04 to .08
inches) in size. There
are also more abundant,
scattered vugs, or small
cavities, that are shaped
like discs. These are
about 1 centimeter (0.4
inches) long.
2/20/2004

The "capture magnet," The Mars Exploration The Mars Exploration 2/17/2004
which attracts Rover Opportunity Rover Opportunity
atmospheric dust dragged one of its dragged one of its
particles from the front wheels back and forth wheels back and forth
deck of the rover. The across the sandy soil at across the sandy soil at
lighter-colored areas in Meridiani Planum to Meridiani Planum to
the image are clean create a hole (bottom create a hole (bottom
sections of the magnet left corner) left corner)
virtually free of dust, approximately 50 approximately 50
and the dark areas are centimeters (19.7 centimeters (19.7
places where dust has inches) long by 20 inches) long by 20
collected. Dust centimeters (7.9 inches) centimeters (7.9 inches)
particles in the martian wide by 9 centimeters wide by 9 centimeters
atmosphere are (3.5 inches) deep. The (3.5 inches) deep. The
estimated to be about 1 rover's instrument rover's instrument
micrometer in size deployment device, or deployment device, or
(1/1000th of a arm, will begin arm, will begin
millimeter or 1/1000th studying the fresh soil studying the fresh soil
of .04 inches). at the bottom of this at the bottom of this
trench later today for trench later today for
The material below the clues to its mineral clues to its mineral
magnet's aluminum composition and composition and
surface is laid out in history. Scientists chose history. Scientists chose
concentric rings, giving this particular site for this particular site for
the image a bull's-eye digging because digging because
appearance. The previous data taken by previous data taken by
magnet was designed in the rover's miniature the rover's miniature
this configuration to thermal emission thermal emission
collect as much spectrometer indicated spectrometer indicated
atmospheric dust as that it contains that it contains

possible. Spirit and crystalline hematite, a crystalline hematite, a
Opportunity each carry mineral that sometimes mineral that sometimes
seven magnets. forms in the presence forms in the presence
2/19/2004 of water. The of water. The
brightness of the brightness of the
newly-exposed soil is newly-exposed soil is
thought to be either thought to be either
intrinsic to the soil intrinsic to the soil
itself, or a reflection of itself, or a reflection of
the Sun. the Sun.
2/19/2004 2/19/2004

2/17/2004 2/14/2004 2/12/2004 2/9/2004

Rock abrasion tool,
also known as "rat"
(circular device in
center), located on the
2/8/2004 2/7/2004 2/7/2004
rover's instrument
deployment device, or
"arm."
2/8/2004

2/7/2004 A region at the end of 2/3/2004 1/28/2004
the rock outcrop lining
the small crater, called
"Eagle Crater." The
sphere-like grains or
"blueberries" dotting
the rocks in the outcrop
can also be seen above

the rocks, suggesting
that these geologic
features have origins
beyond Eagle Crater.
2/7/2004

1/28/2004 1/28/2004 1/28/2004 1/28/2004

1/28/2004 1/28/2004 1/28/2004 1/28/2004

These layered rocks
measure only 10
centimeters (4 inches)
tall and are thought to
be either volcanic ash 1/26/2004
deposits or sediments
carried by water or
wind.
1/27/2004

Opportunity Photos

Mars in Color, from “Spirit”

4/11/2004 4/11/2004 4/11/2004 4/11/2004

4/11/2004 4/11/2004 4/11/2004 4/11/2004

4/6/2004
4/7/2004 4/7/2004 4/7/2004

4/5/2004 4/5/2004 4/5/2004 4/5/2004

no
violet/indigo
4/5/2004 4/5/2004 4/4/2004
4/5/2004

4/4/2004 4/3/2004 4/3/2004 4/3/2004

4/1/2004 3/31/2004 3/30/2004 3/29/2004

3/29/2004
3/27/2004 This image was 3/25/2004
taken by NASA's
Mars Exploration
Rover Spirit on
sol 79 after
completing a
two-location
brushing on the
rock dubbed
"Mazatzal." A
coating of fine,
dust-like material
was successfully
removed from

targets named
"Illinois" (right)
and "New York"
(left), revealing
clean rock
underneath. The
center of the two
brushed spots are
approximately 10
centimeters (3.9
inches) apart and
were aggressively
analyzed by the
instruments on
the robotic arm
on sol 80. On sol
81, the rover
drilled into the
New York target
to expose the
original rock
underneath.
3/26/2004

3/25/2004
3/25/2004 This hazard- NASA's Mars
avoidance camera Exploration Rover
image was taken Spirit took this
by NASA's Mars panoramic camera
Exploration image of the rock target
Rover Spirit on named "Mazatzal" on
sol 79 after sol 77 (March 22,
completing a 2004). It is a close-up
two-location look at the rock face
brushing on the and the targets that will
rock dubbed be brushed and ground
"Mazatzal." A by the rock abrasion
coating of fine, tool in upcoming sols.
dust-like material

was successfully Mazatzal, like most
removed from rocks on Earth and
targets named Mars, has layers of
"Illinois" (right) material near its surface
and "New York" that provide clues about
(left), revealing the history of the rock.
clean rock Scientists believe that
underneath. In the top layer of
this image, Mazatzal is actually a
Spirit's coating of dust and
panoramic possibly even salts.
camera mast Under this light coating
assembly, or may be a more solid
camera head, can portion of the rock that
be seen has been chemically
shadowing altered by weathering.
Mazatzal's Past this layer is the
surface. The unaltered rock, which
center of the two may give scientists the
brushed spots are best information about
approximately 10 how Mazatzal was
centimeters (3.9 formed.
inches) apart and
were aggressively Because each layer
analyzed by the reveals information
instruments on about the formation and
the robotic arm subsequent history of
on sol 80. On sol Mazatzal, it is
81, the rover important that scientists
drilled into the get a look at each of
New York target them. For this reason,
to expose the they have developed a
original rock multi-part strategy to
underneath. use the rock abrasion
tool to systematically
Note: The raw peel back Mazatzal's
images are under layers and analyze
the pan camera what's underneath with
with color filters. the rover's microscopic
??? imager, and its
3/24/2004 Moessbauer and alpha
particle X-ray
spectrometers.

The strategy began on
sol 77 when scientists
used the microscopic
imager to get a closer
look at targets on
Mazatzal named "New
York," "Illinois" and
"Arizona." These rock
areas were targeted
because they posed the
best opportunity for
successfully using the
rock abrasion tool;
Arizona also allowed
for a close-up look at a
range of tones. On sol
78, Spirit's rock
abrasion tool will do a
light brushing on the
Illinois target to
preserve some of the
surface layers. Then, a
brushing of the New
York target should
remove the top coating
of any dust and salts
and perhaps reveal the
chemically altered rock
underneath. Finally, on
sol 79, the rock
abrasion tool will be
commanded to grind
into the New York
target, which will give
scientists the best
chance of observing
Mazatzal's interior.

The Mazatzal targets
were named after the
home states of some of
the rock abrasion tool
and science team

members.
3/23/2004

used
violet for blue
3/22/2004 3/22/2004 3/22/2004
3/22/2004

This image of the
rock called
"Mazatzal" was
taken by the Mars
Exploration Rover
Spirit. It reveals
some interesting
features on this
future rock abrasion
tool target, including
variants in tone, a
sugary surface
texture and
3/22/2004 3/17/2004 3/17/2004
scalloped areas
where parts of the
rock seem to have
been worn away.
Mazatzal's
uniqueness is made
even more obvious
when it is compared
to the more typical,
basaltic rock in the
lower right of the
image.
3/21/2004

The
Mars Exploration 3/17/2004 3/15/2004 3/15/2004
Rover Spirit acquired
this navigation camera
image on the 72nd
martian day, or sol, of
its mission (March 15,
2004), after digging its
wheel into the drift
dubbed "Serpent."
Creating the commands
that would generate this
"scar" was not an easy
task for rover
controllers. Essentially,
they had to
choreograph an
intricate dance for
Spirit, maneuvering it
up the side of the dune,
shimmying its left front
wheel a number of
times to create the
scuff, and then
reversing to attain
proper positioning for
miniature thermal
emission spectrometer
observations. Before
the task was finished,
Spirit moved forward
to put the scuff within
proper reach of the
rover's arm.

This scar allows the
rover's instruments to
see below the drift

surface, to determine
the composition of the
materials. Initial results
indicate that the drift
material is similar to
the basaltic sands that
have been seen
throughout Spirit's
journey to the large
crater dubbed
"Bonneville." The
material does not seem
to be the same as that
inside the crater.

Scientists are now
looking to answer two
questions: Why is the
dark sand in the crater
not the same as the
dark sand in the drift?
And why are there two
different dark soil-type
deposits in such a small
place?
3/17/2004

3/14/2004 3/14/2004 3/12/2004 3/11/2004

3/9/2004

3/9/2004 2/28/2004 2/27/2004

"Humphrey" at Gusev 2/27/2004 The large, 2/18/2004
Crater, Mars, the Mars shadowed rock in
Exploration Rover the foreground is
Spirit's landing site. nicknamed
Spirit examined the "Sandia" for a
lumpy rock with its mountain range
suite of scientific in New Mexico.
instruments both before An imposing
and after it drilled a rock, "Sandia" is
hole into the rock about 33
surface on the 60th centimeters high
martian day, or sol, of and about 1.7
its mission. meters long.
"Humphrey" was one When lightened,
of several stops on the this image
rover's way to the large reveals much
crater dubbed about the
"Bonneville." pictured rocks,
2/27/2004 which the science
team believes are
ejected material,
or ejecta, from
the nearby crater
called
"Bonneville."
Scientists believe
"Sandia" is a
basaltic rock that
landed on its side
after being
ejected from the
crater. The
vertical lines on
the side of the
rock facing the
camera are
known by

geologists as
"flow banding"
and typically run
horizontally,
indicating that
"Sandia" is on its
side. What look
like small holes
on the two visible
sides of the rock
are called
vesicles; they
were probably
once gas bubbles
within the lava.
Many smaller
rocks can be seen
in the
background of
the image. Some
rocks are
completely
exposed, while
others are only
peeking out of
the surface.
Scientists believe
that two
processes might
be at work here:
accretion, which
occurs when
winds deposit
material that
slowly buries
many of the
rocks; and
deflation, which
occurs when
surface material
is removed by
wind, exposing
more and more of
the rocks.

2/26/2004

2/18/2004 2/17/2004 2/14/2004 2/14/2004

2/14/2004 2/14/2004 2/13/2004 2/13/2004

2/13/2004 2/13/2004 2/13/2004 2/13/2004

Magnetic dust
2/13/2004 2/13/2004 collector 2/10/2004
2/12/2004

White Boat is the first This is the Spirit's This is the
rock target that Spirit arm that does Spirit's arm that
drove to after finishing brushing, grinding, does brushing,

a series of and drilling. grinding, and
investigations on the 2/6/2004 drilling.
rock Adirondack. 2/2/2004
White Boat stood out to
scientists due to its
light color and more
tabular shape compared
to the dark, rounded
rocks that surround it.
2/9/2004

Spirit Photos

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