Multipurpose Agile Range Mapping and Optical Surface Examination Tool (MARMOSET)

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'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.

MARMOSET's many-beam range mapping could speed up autonomous surface traverses, sample site surveying, and in-situ resource identification on the Moon, Mars, and other orbiting bodies, while dense sub-100um resolution point clouds could enhance hazard assessment, end effector positioning, and surface inspection, or provide 3D data for in-situ manufacturing. Due to its low SWaP, MARMOSET could be used as an end effector, a handheld tool for lithology, or eventually, even an agile sensor for EDL, spacecraft proximity and asteroid operations.

Due to its low SWaP, dense point clouds, agility, parallel processing, dynamic range, and no moving parts, MARMOSET could lead to transformative solutions for many commercial applications in space and on Earth including surface inspection, robotic location, mapping, and object identification, aerial surveying, aircraft and spacecraft landing and docking systems, and autonomous vehicle navigation.

This is early/mid-stage (TRL 4) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.

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