Assistive Relative Pose Estimation for On-orbit Assembly using Convolutional Neural Networks

by   Shubham Sonawani, et al.

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to space images containing widely varying illumination conditions, high contrast, and poor resolution in addition to power and mass constraints. In this paper, a convolutional neural network is leveraged to uniquely determine the translation and rotation of an object of interest relative to the camera. The main idea of using CNN model is to assist object tracker used in on space assembly tasks where only feature based method is always not sufficient. The simulation framework designed for assembly task is used to generate dataset for training the modified CNN models and, then results of different models are compared with measure of how accurately models are predicting the pose. Unlike many current approaches for spacecraft or object in space pose estimation, the model does not rely on hand-crafted object-specific features which makes this model more robust and easier to apply to other types of spacecraft. It is shown that the model performs comparable to the current feature-selection methods and can therefore be used in conjunction with them to provide more reliable estimates.


page 1

page 3

page 4

page 8


PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes

Estimating the 6D pose of known objects is important for robots to inter...

Continuous close-range 3D object pose estimation

In the context of future manufacturing lines, removing fixtures will be ...

Siamese Convolutional Neural Network for Sub-millimeter-accurate Camera Pose Estimation and Visual Servoing

Visual Servoing (VS), where images taken from a camera typically attache...

IKEA Object State Dataset: A 6DoF object pose estimation dataset and benchmark for multi-state assembly objects

Utilizing 6DoF(Degrees of Freedom) pose information of an object and its...

SU-Net: Pose estimation network for non-cooperative spacecraft on-orbit

Spacecraft pose estimation plays a vital role in many on-orbit space mis...

Pose Estimation for Non-Cooperative Spacecraft Rendezvous Using Convolutional Neural Networks

On-board estimation of the pose of an uncooperative target spacecraft is...

Assembly Planning from Observations under Physical Constraints

This paper addresses the problem of copying an unknown assembly of primi...

Please sign up or login with your details

Forgot password? Click here to reset