Resampling-free jitter-aware bundle adjustment for HiRISE multi-CCD stereo mapping on Mars

Accurate topographic reconstruction from High Resolution Imaging Science Experiment (HiRISE) stereo imagery is essential for Martian geomorphological analysis and landing-site assessment. However, high-frequency sensor jitter and geometric inconsistency among non-collinear charge-coupled devices (CCDs) can introduce seam-related artifacts, periodic residuals, and local digital elevation model (DEM) deformation. Conventional correction workflows often estimate jitter in image space or update attitude parameters before stereo measurement, and therefore do not fully exploit the internal overlap constraints of the HiRISE focal plane within bundle adjustment. This paper presents a resampling-free photogrammetric framework for HiRISE multi-CCD stereo mapping, in which harmonic jitter compensation is embedded directly into rigorous bundle adjustment. A time-continuous exterior orientation model combines low-order polynomial motion with Fourier-series-based jitter terms initialized from adjacent-CCD overlap disparities. Inter-orbit stereo tie points and inter-CCD overlap tie points are then jointly used to constrain stereo geometry, time-dependent pointing variation, and focal-plane consistency in a unified adjustment model. For original CCD-image matching, a constrained coarse-to-fine pipeline is developed. Pretrained XFeat with test-time descriptor adaptation is used mainly for prior-free coarse initialization at the lowest pyramid level, and the resulting geometric relation is propagated to guide efficient Harris + normalized cross-correlation (NCC) refinement and dense grid matching under local constraints. Experiments on four HiRISE stereo pairs covering the Spirit landing region, Mawrth Vallis, the Zhurong landing region, and a more topographically challenging inverted-channel area in Gale Crater are used to evaluate the proposed framework under different terrain-relief conditions. The results show that the proposed framework maintains sub-pixel mean check-point reprojection residuals in both image directions across all four stereo pairs, suppresses jitter-induced periodic residuals, improves consistency across CCD seams, and produces DEMs consistent with the Mars Orbiter Laser Altimeter (MOLA) and official HiRISE/Planetary Data System (PDS) references without image resampling. The implementation will be made publicly available at: https://github.com/wbl1997/mars_images_ba.git .