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Cited by 24Space Satellite Systems and ControlAdvanced Neural Network ApplicationsSpace exploration and regulation

CA-SpaceNet: Counterfactual analysis for 6D pose estimation in space

Open access
Wang, Shunli, Wang, Shuaibing, Jiao, Bo, Yang, Dingkang, Su, Liuzhen, Zhai, Peng, Chen, Chixiao, Zhang, Lihua·2022·2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI 10.1109/iros47612.2022.9981172
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Abstract

Reliable and stable 6D pose estimation of un-cooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper proposes a counterfactual analysis framework named CA-SpaceNet to complete robust 6D pose estimation of the space-borne targets under complicated background. Specifically, conventional methods are adopted to extract the features of the whole image in the factual case. In the counterfactual case, a non-existent image without the target but only the background is imagined. Side effect caused by background interference is reduced by counterfactual analysis, which leads to unbiased prediction in final results. In addition, we also carry out low-bit-width quantization for CA-SpaceNet and deploy part of the framework to a Processing-In-Memory (PIM) accelerator on FPGA. Qualitative and quantitative results demonstrate the effectiveness and efficiency of our proposed method. To our best knowledge, this paper applies causal inference and network quantization to the 6D pose estimation of space-borne targets for the first time. The code is available at https://github.com/Shunli-Wang/CA-SpaceNet.

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Cited by

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Authors
Wang, S., Wang, S., Jiao, B., Yang, D., Su, L., Zhai, P., Chen, C., & Zhang, L.
Affiliations
Ministry of Education of the People's Republic of China (CN)
ORCID
Venue
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
IEEE
Published
2022-10-23
Pages
10627-10634
ISSN
2153-0858 (ISSN-L)
DOI
10.1109/iros47612.2022.9981172
OpenAlex
W4312543023
Cited by
24
References
7
Citations by year
2026: 6 · 2025: 6 · 2024: 6 · 2023: 6
FWCI
7.88
Type
conference paper
Language
en
Open access
Licence
Locations
  • IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (publishedVersion)
  • arXiv (Cornell University) (submittedVersion)
  • arXiv (Cornell University)
Funders
  • Shanghai Municipal Science and Technology Major Project (2021SHZDZX0103)
  • NSFC (61974033)
Topics
  • Physical Sciences › Engineering › Aerospace Engineering › Space Satellite Systems and Control
  • Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Neural Network Applications
  • Physical Sciences › Physics and Astronomy › Astronomy and Astrophysics › Space exploration and regulation
Keywords
6D pose estimation, counterfactual analysis, causal inference, background interference, on-orbit servicing, space debris removal, FPGA deployment, SpaceNet

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