相关论文: Real-Time Spacecraft Pose Estimation Using Mixed-P…

This study addresses the deployment challenges of integer-only quantized Transformers on resource-constrained embedded FPGAs (Xilinx Spartan-7 XC7S15). We enhanced the flexibility of our VHDL template by introducing a selectable resource…

Estimation of rigid transformation between two point clouds is a computationally challenging problem in vision-based relative navigation. Targeting a real-time navigation solution utilizing point-cloud and image registration algorithms,…

Pose estimation of an uncooperative space resident object is a key asset towards autonomy in close proximity operations. In this context monocular cameras are a valuable solution because of their low system requirements. However, the…

The ever-growing cost of both training and inference for state-of-the-art neural networks has brought literature to look upon ways to cut off resources used with a minimal impact on accuracy. Using lower precision comes at the cost of…

Estimating the 6-degrees-of-freedom (6DoF) pose of a spacecraft from a single image is critical for autonomous operations like in-orbit servicing and space debris removal. Existing state-of-the-art methods often rely on iterative…

Space missions increasingly deploy high-fidelity sensors that produce data volumes exceeding onboard buffering and downlink capacity. This work evaluates FPGA acceleration of neural networks (NNs) across four space use cases on the AMD…

This work introduces the Spacecraft Pose Network (SPN) for on-board estimation of the pose, i.e., the relative position and attitude, of a known non-cooperative spacecraft using monocular vision. In contrast to other state-of-the-art pose…

Spacecraft pose estimation is an essential computer vision application that can improve the autonomy of in-orbit operations. An ESA/Stanford competition brought out solutions that seem hardly compatible with the constraints imposed on…

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,…

IoT devices suffer from resource limitations, such as processor, RAM, and disc storage. These limitations become more evident when handling demanding applications, such as deep learning, well-known for their heavy computational…

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…

Post-training quantization (PTQ) is a powerful technique for model compression, reducing the numerical precision in neural networks without additional training overhead. Recent works have investigated adopting 8-bit floating-point…

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…

Reliable relative pose estimation is a key enabler for autonomous rendezvous and proximity operations, yet space imagery is notoriously challenging due to extreme illumination, high contrast, and fast target motion. Event cameras provide…

This paper presents an innovative deep learning pipeline which estimates the relative pose of a spacecraft by incorporating the temporal information from a rendezvous sequence. It leverages the performance of long short-term memory (LSTM)…

Estimating the pose of an uncooperative spacecraft is an important computer vision problem for enabling the deployment of automatic vision-based systems in orbit, with applications ranging from on-orbit servicing to space debris removal.…

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…

We present the implementation of four FPGA-accelerated convolutional neural network (CNN) models for onboard cloud detection in resource-constrained CubeSat missions, leveraging Xilinx's Vitis AI (VAI) framework and Deep Learning Processing…

Deep Neural Networks (DNNs) have achieved extraordinary performance in various application domains. To support diverse DNN models, efficient implementations of DNN inference on edge-computing platforms, e.g., ASICs, FPGAs, and embedded…

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…