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I was wondering if anyone knows the methods that were used to create the bottom map in the figure below, which is to indicate landing hazard for the Perseverance Rover. Slope and ruggedness are a couple of variables that might have been employed, but it would be nice to have a journal article or technical report that goes into more detail.

Here are links to where the map is used and landing hazard is briefly discussed, but no further sources seem to be provided:

https://www.nasa.gov/image-feature/jpl/avoiding-hazards-at-jezero-crater

https://www.jpl.nasa.gov/images/jezeros-hazard-map

enter image description here

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