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Domain randomisation and CNN-based keypoint-regressing pose initialisation for relative navigation with uncooperative finite-symmetric spacecraft targets using monocular camera images

Kajak, Karl Martin and Maddock, Christie and Frei, Heike and Schwenk, Kurt (2023) Domain randomisation and CNN-based keypoint-regressing pose initialisation for relative navigation with uncooperative finite-symmetric spacecraft targets using monocular camera images. Advances in Space Research. Elsevier. doi: 10.1016/j.asr.2023.02.024. ISSN 0273-1177.

Full text not available from this repository.

Official URL: https://www.sciencedirect.com/science/article/abs/pii/S0273117723001436

Abstract

Vision-based relative navigation technology is a key enabler of several areas of the space industry such as on-orbit servicing, space debris removal, and formation flying. A particularly demanding scenario is navigating relative to a non-cooperative target that does not offer any navigational aid and is unable to stabilise its attitude. This research integrates a convolutional neural network (CNN) and an EPnP-solver in a pose initialisation system. The system's performance is benchmarked on images gathered from the European Proximity Operations Simulator EPOS 2.0 laboratory. A synthetic dataset is generated using Blender as a rendering engine. A segmentation-based pose estimation CNN is trained using the synthetic dataset and the resulting pose estimation performance is evaluated on a set of real images gathered from the cameras of the EPOS 2.0 robotic close-range relative navigation laboratory. It is demonstrated that a synthetic-image-trained CNN-based pose estimation pipeline is able to successfully perform in a close-range visual relative navigation setting on real camera images of a 6-facet symmetrical spacecraft.

Item URL in elib:https://elib.dlr.de/194044/
Document Type:Article
Title:Domain randomisation and CNN-based keypoint-regressing pose initialisation for relative navigation with uncooperative finite-symmetric spacecraft targets using monocular camera images
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Kajak, Karl MartinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Maddock, ChristieUNSPECIFIEDhttps://orcid.org/0000-0003-1079-4863UNSPECIFIED
Frei, HeikeUNSPECIFIEDhttps://orcid.org/0000-0003-0836-9171UNSPECIFIED
Schwenk, KurtUNSPECIFIEDhttps://orcid.org/0000-0002-4305-9702UNSPECIFIED
Date:17 February 2023
Journal or Publication Title:Advances in Space Research
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1016/j.asr.2023.02.024
Publisher:Elsevier
ISSN:0273-1177
Status:Published
Keywords:close-range relative navigation, pose estimation, symmetric uncooperative target, monocular camera, convolutional network, domain randomisation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - RICADOS++ [RO], R - Project RICADOS [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Frei, Heike
Deposited On:27 Feb 2023 09:24
Last Modified:27 Feb 2023 09:24

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