Optimization‐Based Geometric Enhancement and Motion Estimation for Non‐Cooperative Spacecrafts.
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| Title: | Optimization‐Based Geometric Enhancement and Motion Estimation for Non‐Cooperative Spacecrafts. |
|---|---|
| Authors: | Zhang, Chi1 (AUTHOR), Han, Yu1,2 (AUTHOR), Liang, Qiaokang3 (AUTHOR), Peng, Jianqing1,2 (AUTHOR) pengjq7@mail.sysu.edu.cn |
| Source: | Journal of Field Robotics. Sep2025, Vol. 42 Issue 6, p2671-2690. 20p. |
| Subjects: | Motion estimation (Signal processing), Kalman filtering, Point cloud, Estimation theory, Space vehicles, Computer vision, Mathematical optimization |
| Abstract: | The state estimation of non‐cooperative spacecrafts is a crucial prerequisite for on‐orbit services. Aiming at the challenges in the fusion‐based scheme with monocular vision and sparse point cloud, an optimization‐based method of geometric enhancement and motion estimation is proposed in this paper. First, with the novel idea of geometric shape representation using simple features, a real‐time segmentation framework is established. Differing from segmentation models, it can guarantee both complete segmentation and high inference speed. Second, given the assumption of local shared planes, a new label‐free algorithm of point cloud densification is developed with an explainable model. To improve its efficiency, a curvature‐guided strategy is employed to sample depth‐incomplete points conducive to feature enhancement. Compared with sparse point clouds, it shows higher pose observation accuracy. Third, a truncation compensator is built to fit the high‐order terms of a nonlinear state transition model with online optimization, which mitigates the impairment in a priori estimation. Combined with the adaptive extended Kalman filter, the motion can be estimated with fewer errors. Finally, the proposed method is validated through comparative simulations and ground experiments. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 187456289 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Optimization‐Based Geometric Enhancement and Motion Estimation for Non‐Cooperative Spacecrafts. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Zhang%2C+Chi%22">Zhang, Chi</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Han%2C+Yu%22">Han, Yu</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Liang%2C+Qiaokang%22">Liang, Qiaokang</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Peng%2C+Jianqing%22">Peng, Jianqing</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<i> pengjq7@mail.sysu.edu.cn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Field+Robotics%22">Journal of Field Robotics</searchLink>. Sep2025, Vol. 42 Issue 6, p2671-2690. 20p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Motion+estimation+%28Signal+processing%29%22">Motion estimation (Signal processing)</searchLink><br /><searchLink fieldCode="DE" term="%22Kalman+filtering%22">Kalman filtering</searchLink><br /><searchLink fieldCode="DE" term="%22Point+cloud%22">Point cloud</searchLink><br /><searchLink fieldCode="DE" term="%22Estimation+theory%22">Estimation theory</searchLink><br /><searchLink fieldCode="DE" term="%22Space+vehicles%22">Space vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+vision%22">Computer vision</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+optimization%22">Mathematical optimization</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: The state estimation of non‐cooperative spacecrafts is a crucial prerequisite for on‐orbit services. Aiming at the challenges in the fusion‐based scheme with monocular vision and sparse point cloud, an optimization‐based method of geometric enhancement and motion estimation is proposed in this paper. First, with the novel idea of geometric shape representation using simple features, a real‐time segmentation framework is established. Differing from segmentation models, it can guarantee both complete segmentation and high inference speed. Second, given the assumption of local shared planes, a new label‐free algorithm of point cloud densification is developed with an explainable model. To improve its efficiency, a curvature‐guided strategy is employed to sample depth‐incomplete points conducive to feature enhancement. Compared with sparse point clouds, it shows higher pose observation accuracy. Third, a truncation compensator is built to fit the high‐order terms of a nonlinear state transition model with online optimization, which mitigates the impairment in a priori estimation. Combined with the adaptive extended Kalman filter, the motion can be estimated with fewer errors. Finally, the proposed method is validated through comparative simulations and ground experiments. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1002/rob.22540 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 20 StartPage: 2671 Subjects: – SubjectFull: Motion estimation (Signal processing) Type: general – SubjectFull: Kalman filtering Type: general – SubjectFull: Point cloud Type: general – SubjectFull: Estimation theory Type: general – SubjectFull: Space vehicles Type: general – SubjectFull: Computer vision Type: general – SubjectFull: Mathematical optimization Type: general Titles: – TitleFull: Optimization‐Based Geometric Enhancement and Motion Estimation for Non‐Cooperative Spacecrafts. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Zhang, Chi – PersonEntity: Name: NameFull: Han, Yu – PersonEntity: Name: NameFull: Liang, Qiaokang – PersonEntity: Name: NameFull: Peng, Jianqing IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 09 Text: Sep2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 15564959 Numbering: – Type: volume Value: 42 – Type: issue Value: 6 Titles: – TitleFull: Journal of Field Robotics Type: main |
| ResultId | 1 |
