Laboratory performance characterization for the INS Mars640 (top row) and YNAOIR (bottom row) cameras, featuring frame noise distributions (left column) and nonlinearity tests (right column). For the INS Mars640 camera, the 20 s dark current frame (middle gain) shows background noise roughly twice as high in the outer ∼40 pixel border and up to ∼5× higher in the upper-left corner. Its nonlinearity remains below 1% between 6500 and 11,500 ADU but rises rapidly beyond this range, reaching ∼5%. For the YNAOIR camera, the 20 s dark frame (high gain) reveals vertical banding and dark current-related arc and edge structures. The nonlinearity curve shows less than 1% deviation in the range of 10,000–50,000 ADU.