Structure‑from‑Motion Method for Asteroids Based on Constrained Bundle Adjustment (Invited)

Yifan Wang; Huan Xie; Xiongfeng Yan; Yaqiong Wang; Jie Chen; Taoze Ying; Ming Yang; Xiaohua Tong

doi:10.3788/AOS251213

Acta Optica Sinica, Volume. 45, Issue 18, 1828004(2025)

Structure‑from‑Motion Method for Asteroids Based on Constrained Bundle Adjustment (Invited)

Yifan Wang^1,2, Huan Xie^1,2、*, Xiongfeng Yan^1,2, Yaqiong Wang^1,2, Jie Chen^1,2, Taoze Ying^1,2, Ming Yang^1,2, and Xiaohua Tong^1,2

Author Affiliations

¹College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China

²Shanghai Key Laboratory of Space Mapping and Remote Sensing for Planetary Exploration, Shanghai 200092, China

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Figures & Tables(13)

Fig. 1. Observation geometry of asteroid exploration mission

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Fig. 2. Flowchart of proposed method

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Fig. 3. Image examples for test datasets. (a)‒(i) Dataset 1‒9

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Fig. 4. Comparison of camera position errors between SfM and C-SfM methods on test datasets. (a)‒(i) Dataset 1‒9

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Fig. 5. Comparison of camera pointing errors between SfM and C-SfM methods on test datasets. (a)‒(i) Dataset 1‒9

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Fig. 6. Comparison of camera pose estimation using SfM and C-SfM methods in test dataset 7

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Fig. 7. Comparison of camera pose estimation using SfM and C-SfM methods in test dataset 4

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Fig. 8. Comparison of camera pose estimation using SfM and C-SfM methods in test dataset 8

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Fig. 9. Comparison of camera pose estimation results between SfM and C-SfM methods under attitude noise with standard deviation $σ$ =2″

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Table 1. Observation conditions of test dataset

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Table 1. Observation conditions of test dataset

Dataset	Data type	Shape model	Distance /km	Sun phase angle /（ $°$ ）	Approach angle /（ $°$ ）	Image number
1	Simulated	Bennu	120	15	90	36
2	Simulated	Bennu	140	15	90	36
3	Simulated	Bennu	160	15	90	36
4	Simulated	Itokawa	120	60	75	36
5	Simulated	Itokawa	120	60	45	36
6	Simulated	Itokawa	120	60	15	36
7	Simulated	Itokawa	120	60	75	72
8	Simulated	Itokawa	120	15	90	54
9	In-orbit	Bennu	~160	~4.5	~87	36

Table 2. Parameter setting of simulated camera
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Table 2. Parameter setting of simulated camera
Property Setting
Type Perspective camera
Focal length 628.7 mm
Detector array size 1024 pixel×1024 pixel
Pixel size 8.5 μm
FOV 0.794°×0.794°

Table 3. Average reprojection error, camera position estimation error, and pointing estimation error of test datasets using SfM and C-SfM methods

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Table 3. Average reprojection error, camera position estimation error, and pointing estimation error of test datasets using SfM and C-SfM methods

Dataset	Reprojection error /pixel		Position error /km		Pointing error / （ $°$ ）
Dataset	SfM	C-SfM	SfM	C-SfM	SfM	C-SfM
1	0.165	0.159	0.085	0.071	0.033	0.031
2	0.132	0.127	0.298	0.194	0.114	0.072
3	0.128	0.124	0.407	0.321	0.136	0.106
4	0.172	0.162	0.885	0.438	0.467	0.219
5	0.183	0.155	0.429	0.174	0.211	0.112
6	0.174	0.172	0.351	0.097	0.299	0.236
7	1.178	0.173	1.168	0.242	0.584	0.128
8	0.142	0.136	0.405	0.317	0.167	0.125
9	0.185	0.173	0.615	0.408	0.199	0.127

Table 4. Comparison of average reprojection error, camera position error, and pointing error of SfM and C-SfM methods under varying levels of random attitude noise in dataset 1
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Table 4. Comparison of average reprojection error, camera position error, and pointing error of SfM and C-SfM methods under varying levels of random attitude noise in dataset 1
σ /（″）
Reprojection
error /pixel
Position
error /km
Pointing
error /（ $°$ ）
SfM C-SfM SfM C-SfM SfM C-SfM
0.5 0.138 0.133 0.161 0.113 0.072 0.050
1 0.140 0.131 0.149 0.097 0.067 0.043
2 0.141 0.134 0.424 0.164 0.208 0.075

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Yifan Wang, Huan Xie, Xiongfeng Yan, Yaqiong Wang, Jie Chen, Taoze Ying, Ming Yang, Xiaohua Tong. Structure‑from‑Motion Method for Asteroids Based on Constrained Bundle Adjustment (Invited)[J]. Acta Optica Sinica, 2025, 45(18): 1828004

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