Adapting a Foundation Model for Lunar Surface Height Estimation

Abstract

Digital elevation models (DEMs) can provide accurate height information, making it invaluable for analyzing the lunar surface. As the European Space Agency (ESA) prepares for future lunar missions that aim to land on the Moon, a precise method for height estimation will be essential for hazardous terrain that could endanger the landing approach. Traditional approaches to generate DEMs from imagery, such as shape from shading (SfS) and stereophotogrammetry (SPG) have been proven highly valuable for this task. However, due to advancements in machine learning, especially computer vision, the focus has shifted towards monocular depth estimation via deep learning. The lunar surface is covered by rocks and craters, and classic hazard detection methods rely solely on 2D image data. Our goal is to address this issue by developing a relative lunar surface height estimator that can provide additional information for hazard localization. In this letter, we present a methodology that builds on the well-known zero-shot relative depth estimation model Depth Anything V2 (DAV2). Other works have been using it as a state-of-the-art comparison for their proposed lunar DEM estimation method, but without adaptations to the target domain. Thus, it may underperform. Therefore, we propose a fine-tuning strategy with publicly available SPG-derived DEM data of the lunar surface. Our results demonstrate a significant improvement in performance compared to the zero-shot model, effectively transforming DAV2 into a reliable relative depth estimator of the lunar surface.