基于运动恢复结构的未知形状空间碎片运动估计与三维重建
Structure from Motion-based Motion Estimation and 3D Reconstruction of Unknown Shaped Space Debris
AI总结：
本文提出基于运动恢复结构的算法，仅用二维图像即可同时重建未知形状空间碎片的三维形状和相对位姿轨迹，进而估计目标运动，并通过微重力实验和三维仿真验证了方法有效性。
摘要：
随着近几十年来航天器发射数量的增加，空间碎片问题日益变得至关重要。为了实现可持续的空间利用，持续清除空间碎片是人类面临的最严峻问题。为了最大限度地提高在轨碎片捕获任务的可靠性，对目标进行精确的运动估计至关重要。空间碎片已失去姿态和轨道控制能力，且由于解体其形状未知。本文提出了一种基于运动恢复结构（Structure from Motion）的算法，在资源有限的情况下对未知形状的空间碎片进行运动估计，该方法仅需二维图像作为输入。该方法随后同时输出未知物体的重建形状以及目标与相机之间的相对位姿轨迹，并利用这些信息来估计目标的运动。该方法通过二维气浮试验台微重力实验生成的真实图像数据集以及三维运动学仿真进行了定量验证。
英文摘要：
With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the continuous removal of space debris is the most severe problem for humanity. To maximize the reliability of the debris capture mission in orbit, accurate motion estimation of the target is essential. Space debris has lost its attitude and orbit control capabilities, and its shape is unknown due to the break. This paper proposes the Structure from Motion-based algorithm to perform unknown shaped space debris motion estimation with limited resources, where only 2D images are required as input. The method then outputs the reconstructed shape of the unknown object and the relative pose trajectory between the target and the camera simultaneously, which are exploited to estimate the target's motion. The method is quantitatively validated with the realistic image dataset generated by the microgravity experiment in a 2D air-floating testbed and 3D kinematic simulation.
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