We propose to advance from TRL4 to TRL5-6 in Phase II a novel Multipurpose Agile Range Mapping and Optical Surface Examination Tool (MARMOSET) for lunar, Mars, and other planetary surface operations, including base camp construction, site surveying, sample and resource prospecting and acquisition, maintenance, in-situ manufacturing, and science tasks. MARMOSET evolved from two former NASA PIDDP efforts and a just-completed Phase I/II SBIR aimed at rover mobility and science operations on Mars. However, this technology is directly applicable to lunar and other planetary surface operations.MARMOSET employs a novel agile laser pattern projector to acquire dense 3D point clouds with sub-mm resolution from up to 10m using structured illumination and a camera, or to measure range at up to 1M points simultaneously from up to 1km using encoded laser beams and a fast detector. In both modes, MARMOSET computes each point in parallel, works in darkness or daylight, and takes under 1s to acquire and process the data. MARMOSET uses robust space-proven components and acquires data without moving parts.MARMOSET can acquire and process data internally, is networked, and is powered using a single low-voltage supply. Its modular architecture facilitates integration with various robotic platforms. It could be used as part of a rover#39;s vision system, as an end effector, or even as a hand-held tool.We developed a low-SWaP stand-alone commercial prototype that weighs under 2kg, fits on a camera tripod, and consumes ~20W of power, and used it to acquire and compute ~1M point clouds of nearby targets in well under a second. We have also made progress integrating the many-beam lidar mode.During the Phase I and follow-on Phase II efforts we will extend ranging distance, implement robotics software framework interfaces, implement a rad-hard-compatible electronics design, fully integrate the lidar mode, and demonstrate MARMOSET operation on a test rover at JPL and at a lunar-analog field site.
