This image, taken by the descent image motion estimation system camera located on the bottom of the Mars Exploration Rover Spirit's lander, shows a view of Gusev Crater as the lander descends to Mars. The picture is taken at an altitude of 1706 meters. Numerous small impact craters can be seen on the surface of the planet. These images help the onboard software to minimize the lander's horizontal velocity before its bridle is cut, and it falls freely to the surface of Mars.