Large Area High-Resolution 3D Mapping of the Von Kármán Crater: Landing Site for the Chang'E-4 Lander and Yutu-2 Rover.

We demonstrate the creation of a large area of high-resolution (260 x 209 km(2) at 1 m/pixel) DTM mosaic from the Lunar Reconnaissance Orbiter Camera (LROC) Narrow Angle Camera (NAC) images over the Chang'E-4 landing site at Von Karman crater using an in-house deep learningbased 3D modelling system developed at University College London, called MADNet, trained with lunar orthorectified images and digital terrain models (DTMs). The resultant 1 m DTM mosaic is co-aligned with the Chang'E-2 (CE-2) and the Lunar Orbiter Laser Altimeter (LOLA)-SELenological and Engineering Explorer (SELENE) blended DTM product (SLDEM), providing high spatial and vertical congruence. In this paper, technical details are briefly discussed, along with visual and quantitative assessments of the resultant DTM mosaic product. The LROC NAC MADNet DTM mosaic was compared with three independent DTM datasets, and the mean differences and standard deviations are as follows: PDS photogrammetric DTM at 5 m grid-spacing had a mean difference of 0.019 +/- 1.09 m, CE-2 DTM at 20 m had a mean difference of -0.048 +/-.791 m, and SLDEM at 69 m had a mean difference of 0.577 +/- 94.940 m. The resultant LROC NAC MADNet DTM mosaic, alongside a blended LROC NAC and CE-2 MADNet DTM mosaic and a separate LROC NAC, orthorectified image mosaic, are made publicly available via the ESA planetary science archive's guest storage facility.