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arXiv · 2108.10282

ChiNet: Deep Recurrent Convolutional Learning for Multimodal Spacecraft Pose Estimation

Duarte Rondao·Nabil Aouf·Mark A. Richardson
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Abstract

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) units in modelling sequences of data for the processing of features extracted by a convolutional neural network (CNN) backbone. Three distinct training strategies, which follow a coarse-to-fine funnelled approach, are combined to facilitate feature learning and improve end-to-end pose estimation by regression. The capability of CNNs to autonomously ascertain feature representations from images is exploited to fuse thermal infrared data with red-green-blue (RGB) inputs, thus mitigating the effects of artefacts from imaging space objects in the visible wavelength. Each contribution of the proposed framework, dubbed ChiNet, is demonstrated on a synthetic dataset, and the complete pipeline is validated on experimental data.

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Duarte Rondao, Nabil Aouf, Mark A. Richardson. 2021-08-23. ChiNet: Deep Recurrent Convolutional Learning for Multimodal Spacecraft Pose Estimation. https://arxiv.org/abs/2108.10282

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