The video was captured by downward-facing CAM-H, which is mounted on the side of the spacecraft. It’s worth mentioning again that this camera was funded entirely by public donations!

Just like the first touchdown, Hayabusa2’s firing of a tantalum bullet as the sample horn smooshed into the surface sprayed a lot of surface material into the air. On the first touchdown, some of that material stuck to the wide-angle optical navigation camera (ONC-W1) lens, creating permanent cloudy spots in subsequent images.

When approaching Ryugu’s surface for touchdown, Hayabusa2 relies on a previously dropped target marker to pinpoint the correct landing spot. JAXA flight controllers were concerned that cloudy spots in ONC-W1 images would cause the spacecraft to confuse a bright rock for the target marker.

To mitigate this, JAXA lowered the starting altitude for the final descent from 45 to 30 meters, and implemented some fancy new image processing algorithms to make sure Hayabusa2 would lock onto its target marker correctly. Here is a comparison of the navigation images before and after processing; as you can see, the location of the target marker is much clearer in the processed image.