Related papers: Efficient Onboard Spacecraft Pose Estimation with …

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

On-orbit operations require the estimation of the relative 6D pose, i.e., position and orientation, between a chaser spacecraft and its target. While data-driven spacecraft pose estimation methods have been developed, their adoption in real…

We address the estimation of the 6D pose of an unknown target spacecraft relative to a monocular camera, a key step towards the autonomous rendezvous and proximity operations required by future Active Debris Removal missions. We present a…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

As satellites become smaller, the ability to maintain stable pointing decreases as external forces acting on the satellite come into play. At the same time, reaction wheels used in the attitude determination and control system (ADCS)…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

This article presents a pioneering approach to real-time spacecraft pose estimation, utilizing a mixed-precision quantized neural network implemented on the FPGA components of a commercially available Xilinx MPSoC, renowned for its…

Spacecraft pose estimation is crucial for autonomous in-space operations, such as rendezvous, docking and on-orbit servicing. Vision-based pose estimation methods, which typically employ RGB imaging sensors, is a compelling solution for…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

In this study, we present a pragmatic lightweight pose estimation model. Our model can achieve real-time predictions using low-power embedded devices. This system was found to be very accurate and achieved a 94.5% accuracy of SOTA HRNet…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…

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…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains…

Object 6D pose estimation is an important research topic in the field of computer vision due to its wide application requirements and the challenges brought by complexity and changes in the real-world. We think fully exploring the…

Being capable of estimating the pose of uncooperative objects in space has been proposed as a key asset for enabling safe close-proximity operations such as space rendezvous, in-orbit servicing and active debris removal. Usual approaches…