True Color and Chromaticity of the Martian Surface and Sky from Mars Exploration Rover Pancam Observations

We calculate the quantitative color of Mars using calibrated data from the Panoramic Cameras (Pancams) on the Mars Exploration Rovers Spirit and Opportunity. Measured color values allow us to directly compare the color properties of the rover landing sites with the Mars Pathfinder and Viking Lander sites, to quantify systematic changes in color over time, and to increase our perceptual understanding of conditions on the Martian surface. By converting calculated color values to the sRGB color space employed by the majority of modern computer monitors and printers, "true color" representations of the martian surface and sky are produced. Initial colorimetry values are calculated as CIE tristimulus values (the red, green, and blue components of human color vision). Calibrated radiance images from the six discrete left eye Pancam narrow band filters (centered at 753, 673, 601, 535, 482, and 432 nm) are splined to estimate an entire human visible spectrum (360 to 830 nm) for each pixel. Tristimulus values are found by discretely summing over the products of the spectra and 3 CIE color matching functions, allowing chromaticities (normalized tristimulus values) to be calculated. CIE tristimulus values are convolved with a transformation matrix to create sRGB tristimulus values which are then fit to a 2.2 gamma curve and scaled to the range of 0 to 255, 24 bit encoding (8 bits/channel) used by the majority of color displays. An average normalized surface spectrum is used to approximate chromaticities for images with only partial left eye filter sets. Chromaticity values of the martian sky and surface at various points throughout the mission generally match those from the Pathfinder and Viking landing sites. Using the color designation method defined by the ISCC-NBS, the martian sky is "light to moderate yellowish brown," while average rocks and soil vary between "dark grayish yellowish brown" to "moderate brown". Study of changes in the colors of the rover calibration targets over the first 200 sols of each mission show that the chromaticities are trending towards the "dark yellowish brown" portion of the color space, indicating that the calibration targets are getting covered by martian dust as the mission progresses and allowing a quantitative estimate of dust deposition rates. A similar study of sky chromaticities throughout the missions shows trends in the color of the sky towards "very light yellowish brown." Comparing these trends with measured dust opacities throughout the missions would predict that, to the human eye, the "true" martian sky (with no suspended dust) would appear a very light yellowish brown color - almost directly opposite from the color of Earth's sky. However, this hypothesis needs to be tested against multiple scattering radiative transfer models of the martian sky radiance field.