Related papers: CAD-Free Learning of Spacecraft Pose Estimators vi…

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…

This work introduces a novel augmentation method that increases the diversity of a train set to improve the generalization abilities of a 6D pose estimation network. For this purpose, a Neural Radiance Field is trained from synthetic images…

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…

Autonomous rendezvous and proximity operations around uncooperative, unknown spacecraft are critical for active debris removal and on-orbit servicing missions. A key component of such operations is the offline reconstruction of a 3D model…

Pose-free neural radiance fields (NeRF) aim to train NeRF with unposed multi-view images and it has achieved very impressive success in recent years. Most existing works share the pipeline of training a coarse pose estimator with rendered…

Reconstructing from multi-view images is a longstanding problem in 3D vision, where neural radiance fields (NeRFs) have shown great potential and get realistic rendered images of novel views. Currently, most NeRF methods either require…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

We present iNeRF, a framework that performs mesh-free pose estimation by "inverting" a Neural RadianceField (NeRF). NeRFs have been shown to be remarkably effective for the task of view synthesis - synthesizing photorealistic novel views of…

We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…

On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…

We aim to improve the Inverted Neural Radiance Fields (iNeRF) algorithm which defines the image pose estimation problem as a NeRF based iterative linear optimization. NeRFs are novel neural space representation models that can synthesize…

On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. 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…

Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…

Obtaining a better knowledge of the current state and behavior of objects orbiting Earth has proven to be essential for a range of applications such as active debris removal, in-orbit maintenance, or anomaly detection. 3D models represent a…

We introduce ViewNeRF, a Neural Radiance Field-based viewpoint estimation method that learns to predict category-level viewpoints directly from images during training. While NeRF is usually trained with ground-truth camera poses, multiple…

Neural surface reconstruction methods typically treat camera poses as fixed values, assuming perfect accuracy from Structure-from-Motion (SfM) systems. This assumption breaks down with imperfect pose estimates, leading to distorted or…

A key requirement for autonomous on-orbit proximity operations is the estimation of a target spacecraft's relative pose (position and orientation). It is desirable to employ monocular cameras for this problem due to their low cost, weight,…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…

The method of neural radiance fields (NeRF) has been developed in recent years, and this technology has promising applications for synthesizing novel views of complex scenes. However, NeRF requires dense input views, typically numbering in…