Researching | Point Cloud Model Reconstruction and Pose Estimation of Non-Cooperative Spacecraft Without Feature Extraction

Acta Optica Sinica, Volume. 45, Issue 7, 0712004(2025)

Point Cloud Model Reconstruction and Pose Estimation of Non-Cooperative Spacecraft Without Feature Extraction

Jiaqi Feng1...2, Zhongguang Yang1, Zhang Zhang1,2, Wen Chen1, Jinpei Yu1,* and Liang Chang1 |Show fewer author(s)

Author Affiliations

¹Innovation Academy for Microsatellites of Chinese Academy of Sciences, Shanghai 201306, China

²University of Chinese Academy of Sciences, Beijing 100039, China

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Abstract Get PDF(in Chinese)

Figures&Tables (15)

References (24)

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Figures & Tables(15)

Fig. 1. Illustration of application scenarios and coordinate systems

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Fig. 2. Flowchart of method

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Fig. 3. Flowchart of pose graph update

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Fig. 4. Experimental scenario

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Fig. 5. Examples of lidar scanning point cloud

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Fig. 6. Mixed pixel noise

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Fig. 7. Comparison of attitude estimates with other methods

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Fig. 8. Comparison of position estimates with other methods

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Fig. 9. Comparison of attitude estimation error with other methods

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Fig. 10. Comparison of position estimation error with other methods

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Fig. 11. Comparison of point cloud model before and after pose graph optimization

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Fig. 12. Final reconstructed point cloud model

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Fig. 13. Computational time of methods

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Table 1. Lidar parameters

Table 1. Lidar parameters

Parameter	Value
Laser wavelength	1550 nm
Field of view	Horizontal 45°; Vertical 25°
Angular resolution	Horizontal 0.03°; Vertical 0.05°
Frame rate	1‒20 frame /s
Laser scanning frequency	500 kHz
Distance measurement accuracy	2 cm

Table 2. Pose mean absolute error comparison
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Table 2. Pose mean absolute error comparison
Method $θ_{x} / (°)$ $θ_{y} / (°)$ $θ_{z} / (°)$ $p_{x} / m$ $p_{y} / m$ $p_{z} / m$
Ours 2.34 1.67 1.71 0.033 0.007 0.025
Ref ［17］ 4.47 3.65 4.29 0.056 0.015 0.056
ICP 4.92 87.64 4.06 0.221 0.031 0.218

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Jiaqi Feng, Zhongguang Yang, Zhang Zhang, Wen Chen, Jinpei Yu, Liang Chang. Point Cloud Model Reconstruction and Pose Estimation of Non-Cooperative Spacecraft Without Feature Extraction[J]. Acta Optica Sinica, 2025, 45(7): 0712004

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Paper Information

Category: Instrumentation, Measurement and Metrology

Received: Nov. 24, 2024

Accepted: Jan. 23, 2025

Published Online: Mar. 20, 2025

The Author Email: Yu Jinpei (yujp@microsate.com)

DOI:10.3788/AOS241790

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology