发表机构
Universidad de Málaga（马拉加大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种无标记多模态自主机器人检测流程，利用三维重建支持大型空间结构检测，集成多种传感器与算法，验证了其可行性与有效性。
AI 中文摘要
未来的轨道基础设施，如可展开天线、太阳能农场和大型轨道平台，将需要能够在有限先验知识且无合作标记的情况下运行的自主检测系统。当前的在轨服务方法通常依赖于预定义轨迹、标准接口、基准标记或精确的目标模型，这限制了其对大型、异构或部分未知结构的可扩展性。本文提出了一种无标记的自主机器人检测流程，其中三维重建被用作检测支持的表示。该系统集成了Kinova Gen2机械臂与安装在末端执行器上的多模态传感器头，该传感器头由RGB-D相机、热像仪和2D激光雷达组成。该流程估计近似检测体积，生成视点，使用MoveIt规划无碰撞运动，并在ROS2中同步记录RGB-D图像、热数据和机器人姿态。对候选重建方法进行了评估，以选择适用于该流程的实用方法，其中Nerfacto用于几何重建，Thermal-Nerfacto用于演示检测中的热感知渲染。在基于Gazebo的模拟器中的验证和初步实验室测试表明，所提出的系统能够自主获取空间一致的检测数据，并生成适用于视觉和几何评估的重建结果，这代表了向大型非合作空间结构检测迈进的一步。
英文摘要
Future orbital infrastructures, such as deployable antennas, solar farms, and large orbital platforms will require autonomous inspection systems able to operate with limited prior knowledge and without cooperative markers. Current on-orbit servicing approaches often rely on predefined trajectories, standard interfaces, fiducial markers or accurate target models, which limits scalability for large, heterogeneous or partially unknown structures. This paper presents a markerless autonomous robotic inspection pipeline in which 3D reconstruction is used as an inspection-support representation. The system integrates a Kinova Gen2 manipulator with an end-effector-mounted multimodal sensor head composed of an RGB-D camera, a thermal camera and a 2D LiDAR. The pipeline estimates an approximate inspection volume, generates viewpoints, plans collision-free motions with MoveIt, and synchronously records RGB-D images, thermal data, and robot poses in ROS2. Candidate reconstruction methods were evaluated to select a practical method for this pipeline, with Nerfacto used for geometric reconstruction and Thermal-Nerfacto used to demonstrate thermal-aware rendering for inspection. Validation in a Gazebo-based simulator and preliminary laboratory tests reveal that the proposed system can autonomously acquire spatially coherent inspection data and produce reconstructions suitable for visual and geometric assessment, representing a step towards inspection of large non-cooperative space structures.
Comments7 pages, 5 figures, accepted conference paper
Journal ref2026 International Conference on Space Robotics (iSpaRo), Cologne, Germany
