United States Geological Survey
20110823
LRO LROC DEM, Apollo 15, ColorHillshade
1
raster digital data
http://www.lmmp.nasa.gov
Lunar Mapping and Modeling Project (LMMP)
20110823
LRO_NAC_ClrShade_26N0004E_150cmp.tif
1
raster digital data
Pasadena, CA
Jet Propulsion Laboratory (JPL)
http://www.lmmp.nasa.gov
This is a colorized shaded-relief of the digital elevation model (DEM) extracted from the Lunar Reconnaissance Orbiter Camera (LROC) Narrow Angle Camera (NAC) stereo images from the Lunar Reconnaissance Orbiter mission. The original data product is a DEM from stereo images acquired at approximately 0.5 meters/pixel resolution, which allows an output DEM resolution of 1.5 to 2.0 meters/pixel using a softcopy photogrammetry system. However, in some cases, LROC DEMs were also generated at lower resolutions. The DEM was registered horizontally and vertically to LRO's Lunar Orbiter Laser Altimeter (LOLA) data.
The NASA Constellation Program (CxP) has identified 50 regions of interest on the Moon that the LROC NAC will image. A DEM is generated for each of these regoins using the acquired NAC images. High resolution DEMs will be essential for identifying potential landing sites, landing site hazards, placement of landed assets on the surface, as well as other surface operations and navigation needs. Site-specific DEMs will also serve as a foundation for ortho-projection and control of local/site mosaics.
The nodata value for the shaded-relief is 0
2011
Publication date
None planned
3.027194
3.849665
26.764077
26.454592
http://www.lmmp.nasa.gov/redmine/projects/lmmpwiki/wiki/Glossary
Lunar Mapping and Modeling Project (LMMP)
Lunar Reconnaissance Orbiter (LRO)
Lunar Reconnaissance Orbiter Camera (LROC)
Lunar Orbiter Laser Altimeter (LOLA)
LOLA Gridded Data Record (GDR)
Digital Elevation Model (DEM)
Digital Terrain Model (DTM)
Elevation
Topography
http://www.lmmp.nasa.gov/redmine/projects/lmmpwiki/wiki/Glossary
The Moon
Earth
None
None
United States Geologic Survey
mailing address
2255 North Gemini Drive
Flagstaff
AZ
86001
USA
928-556-7100
LRO_NAC_ClrShade_26N004E_150cmp_legend.png
legend for elevation values
PNG
The Lunar Mapping and Modeling Project (LMMP) Team
None
Unclassified
None
ISIS 3.2.1, SOCET SET 5.5 ((R) BAE Systems), GDAL 1.8
For each DEM pixel, a derived confidence value is also assigned in the file named LRO_NAC_Conf_*.tif. The confidence values used to assess the DEM pixels are:
>
> 0 = NoDATA, outside boundary
> 1 = Shadowed
> 2 = Saturated
> 3 = Suspicious (edge, corner, did not correlate, etc)
> 4 = Interpolated/Extrapolated from neighbor pixels
> 10-14 = Value range of successful correlations
> 15 = Manually interpolated
>
The process of DEM extraction by comparing the paired stereo images is never perfect and the resulting DEMs will contain some level of inaccuracies. The random height errors are most obvious in DEMs extracted from low signal-to-noise imagery and tend to give the surface a faceted or exaggerated rough appearance (this is particularly apparent in the shaded reliefs). Localized areas of high noise may result from shadows or other low contrast features. Errors that have more identifiable patterns, unrelated to the image quality, are artifacts of the particular extraction or editing techniques. For example, sections of the DEM that are edited manually, though improved, may still be distinguishable by their smooth texture from the more accurately portrayed natural terrain in other areas (manual edits can also be clearly identified in the confidence maps). Linear artifacts along which the DEM height changes discontinuously by a small amount may also originate from multiple sources in the data processing. For example, such small offsets are commonly seen at the join between data from the two cameras of the LROC-NAC system. Additional rectangular artifacts can be traced to the SOCET SET Next-Generation Automatic Terrain Extraction (NGATE) matching algorithm, which divides the whole DEM into small blocks. For each block, NGATE computes a set of transformation parameters between ground XYZ and image line, sample, and X parallax. The set of parameters are computed based on the sensor model as well as the specific location. As a result, there may be some minor blocking effect (horizontal line and/or vertical line along the block boundaries). Elevation changes across both inter-camera seams and block boundaries should always be less than the expected vertical precision of 1 m. To maintain the maximum scientific integrity of the data and to preserve detail in other areas, no attempt has been made to smooth over these artifacts. To view examples of common matching issues and artifacts please see: https://pub.lmmp.nasa.gov/redmine/attachments/404/Artifacts.pdf
Where the images contained stereo overlap, elevation values were extracted for the DEM except for when one of the images was in shadow.
The given horizontal accuracy is the RMS in the X (longitude) and Y (latitude) directions in meters of the final triangulation solution as reported in SOCET SET. The root mean squared (RMS) values are X=13.5m and Y=8.7m. The relative horizontal accuracy (pixel to pixel across the DEM) is the same as the spatial resolution of the DEM, which is equivalent to the post spacing (typically 1.5m). The images used in this project were controlled to LOLA tracks that were determined to be self-consistent, but which may not have been included in a crossover solution. The total absolute error results from the combination of the DEM horizontal error and the LOLA track data horizontal error. The minimum absolute RMS accuracy of the crossover corrected LOLA data is estimated at 20m. Thus the maximum horizontal RMS for this DEM may be up to 24.1m.
24.1
24.1m represents the LOLA 20m absolute RMS accuracy root summed squared (RSS) with the maximum SOCET SET RMS of 13.5m. 1-5m relative accuracy (same as the DEM pixel spacing)
The vertical accuracy measured in SOCET SET is the RMS Z=2.6m. Since the DEM is tied to LOLA, the vertical accuracy is limited by both the absolute vertical RMS accuracy of the LOLA data and the expected vertical precision (the relative precision) of the DEM. The absolute RMS vertical accuracy of the LOLA data is expected to approach 1 meter, but at the time this DEM was created, the vertical RMS accuracy of the LOLA data is estimated at 10m. The relative precision of this DEM is expected to be 1 meter, but can be as large as 2 meters. Thus the maximum vertical RMS for this DEM may be up to 10.3m.
10.3
10.3m represents the LOLA 10m absolute RMS vertical accuracy root summed squared with the maximum SOCET SET RMS of 2.6m, 1-5m precision. Absolute accuracy is based on LOLA error estimates. Precision is based on SOCET SET precision and RMS error between LOLA profiles and the DEM.
Robinson, Mark S. et. al.
Springer Netherlands, Space Science Reviews Volume 150, Numbers 1-4, 81-124, DOI: 10.1007/s11214-010-9634-2
20100101
Lunar Reconnaissance Orbiter Camera (LROC) Instrument Overview
document
http://dx.doi.org/10.1007/s11214-010-9634-2
PDS EDR
2009
2011
ground condition
LROC NAC
http://lroc.sese.asu.edu/data/LRO-L-LROC-2-EDR-V1.0/LROLRC_0001/DOCUMENT/LROCSIS.PDF
Smith, David E. et. al.
Solar System Exploration Division, NASA Goddard Space Flight Center, Greenbelt
20080108
The Lunar Orbiter Laser Altimeter Investigation on the Lunar Reconnaissance Orbiter Mission
document
http://lunar.gsfc.nasa.gov/lola/images/smith_lola_ssr09.pdf
PDS EDR
2009
2011
ground condition
LOLA
http://pds-geosciences.wustl.edu/lro/lro-l-lola-3-rdr-v1/lrolol_1xxx/document/rdrsis.pdf
All processing was completed using Geospatial Data Abstraction Library (GDAL) tools on the original LROC DEM. To derive this colorized shaded-relief these three GDAL commands were used:
>
> (1) gdaldem hillshade input_dem output_hillshade -z 2 (ZFactor) -az 315 (Azimuth) -alt 45 (Altitude) >
> (2) gdaldem color-relief input_dem color_text_file output_color_relief_map >
> (3) hsv_merge.py output_color_relief_map output_hillshade output_color-hillshade. >
Pixels do not contain any of the original explicit elevation information. The colorized shaded-relief represents approximate elevations based on the original topographic data. Elevations values are mapped based on the defined red, green, and blue mapping listed below. All NoData values are mapped to 0,0,0 (black). Thus 0 percent (purple) maps to minimum elevation and 100 percent (white) maps to maximum using a linear stretch between percentages.
>
> nv 0 0 0 //No Data
> 0% 255 120 255 //purple
> 20% 120 120 255 //blue
> 40% 120 255 255 //aqua
> 60% 120 255 120 //green
> 70% 255 255 120 //yellow
> 90% 255 120 120 //red
> 100% 255 255 255 //white
>
The shadows in the DEM were masked and images were used to fill in the shadowed areas where possible.
20110823
United States Geological Survey
Mark Rosiek
mailing address
2255 North Gemini Drive
Flagstaff
AZ
86001
USA
928-556-7100
mrosiek@usgs.gov
Raster
Pixel
26472
14944
3
Equirectangular
26.0
0
0
0
row and column
1.5
1.5
meters
Moon 2000
1737400.0
1.0e+10
Moon 2000
1
Meters
Explicit elevation coordinate included with horizontal coordinates
Shaded-relief, or hillshading, simulates shadows cast upon a raised topographic map, or more abstractly upon the planetary surface.
http://www.gdal.org/gdaldem.html
20110823
United States Geological Survey
Trent Hare
mailing address
2255 North Gemini Drive
Flagstaff
AZ
86001
USA
928-556-7100
thare@usgs.gov
FGDC Content Standards for Digital Geospatial Metadata
FGDC-STD-001-1998