Relative pose estimation for cylinder-shaped spacecrafts using single image
Abstract
This paper describes a novel framework to determine the relative pose and range of a solid-of-revolution-shaped spacecraft from a single image without any artificial beacons. The translation and the symmetry axis of the spacecraft can be estimated from the imaged cross sections of the spacecraft body. Then the pose and range of the spacecraft are fully determined by means of the images of its solar panels and asymmetric feature. Our method has been validated by both synthetic and real images.
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The ellipse-extraction method of Liu and Hu [14] is not feasible for pose estimation of a spacecraft of generic shape.
“but its application is not feasible for the pose estimation of a spacecraft of generic shape.”
From Review of the robustness and applicability of monocular pose estimation systems for relative navigation with an uncooperative spacecraft (2019) · cites this paper as [14]
Liu and Hu [14] presented a robust method based on ellipses extraction for cylinder-shaped spacecraft.
“Liu and Hu [14] presented a 265 robust method based on ellipses extraction for cylinder-shaped spacecraft”
From Review of the robustness and applicability of monocular pose estimation systems for relative navigation with an uncooperative spacecraft (2019) · cites this paper as [14]
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“Following this trend, the proposals of DL-based spacecraft pose estimation algorithms have outnumbered [151], [20] the classical feature-engineering-based methods [32, 148, 87, 147, 135, 19] in recent years.”
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A low-dimensional binary-based descriptor for unknown satellite relative pose estimation
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“Liu and Hu [9] provided detailed criteria for selecting meaningful ellipses for the solid of revolution-shaped noncooperative target, utilizing features, such as concentric circles and solar panels, to fully determinethespacecraft’spose.”
Vision-Based Satellite Recognition and Pose Estimation Using Gaussian Process Regression
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“The 3D model could be a CAD model [1, 3, 4, 26, 27] or 3D point cloud [2, 13].”
MethodReal-Time Model-Based Monocular Pose Tracking for an Asteroid by Contour Fitting
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“After that, the extracted features are matched against the 3-D features on the CAD model by RANSAC [41], deterministic annealing [25], cross-correlation [21], convolution neural network (CNN) [31], and other heuristic methods [33], [34].”
MethodSelf-citationAn FPGA-Based General-Purpose Feature Detection Algorithm for Space Applications
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“Liu and Hu [6] designed a spacecraft pose determination algorithm by extracting its solar panels and asymmetric features from the image.”
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“Liu and Hu [18] developed a novel framework to determine the relative pose and range of a known-shaped noncooperative spacecraft from a single image, and the method was validated by synthetic and real images.”
BackgroundEnd-to-end Monocular Pose Estimation for Uncooperative Spacecraft based on Direct Regression Network
Huang, H., Song, B., Zhao, G., & Bo, Y. (2023) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2023.3256971 · Cited by 20 · see citing works
High-accuracy real-time satellite pose estimation for in-orbit applications
Wang, Z., Jinghao, W. A. N. G., Yu, J., Li, Z., & Yu, Q. (2025) · Chinese Journal of Aeronautics · doi:10.1016/j.cja.2025.103458 · Cited by 10 · see citing works
Ellipse fitting for imaged cross sections of a surface of revolution
Liu, C., & Hu, W.-D. (2015) · Pattern Recognition · doi:10.1016/j.patcog.2014.09.028 · Cited by 10 · see citing works
Self-citationA hybrid relative navigation algorithm for a large–scale free tumbling non–cooperative target
Zhu, W., She, Y., Hu, J., Wang, B., Mu, J., & Li, S. (2022) · Acta Astronautica · doi:10.1016/j.actaastro.2022.01.028 · Cited by 10 · see citing works
Particle filter-based relative rolling estimation algorithm for non-cooperative infrared spacecraft
Li, Z., Fengzeng, G., Chen, W., Shao, W., Liu, B., & Cheng, B. (2016) · Infrared Physics & Technology · doi:10.1016/j.infrared.2016.07.002 · Cited by 10 · see citing works
Circular-Feature-Based Pose Estimation of Noncooperative Satellite Using Time-of-Flight Sensor
Mu, J., Li, S., & Xin, M. (2024) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g007629 · Cited by 9 · see citing works
Neural-Network-Based Pose Estimation During Noncooperative Spacecraft Rendezvous Using Point Cloud
Zhang, S., Hu, W., Guo, W., & Liu, C. (2023) · Journal of Aerospace Information Systems · doi:10.2514/1.i011179 · Cited by 9 · see citing works
Self-citationShen, K., Zhuang, Y., Chen, Y., Zuo, S., & Liu, T. (2023) · Pattern Recognition Letters · doi:10.1016/j.patrec.2023.05.008 · Cited by 10 · see citing works
Rock‐ring detection accuracy improvement in infrared satellite image with sub‐pixel edge detection
Zhang, H., Cai, M., Bai, X., & Li, Z. (2018) · IET Image Processing · doi:10.1049/iet-ipr.2018.5126 · Cited by 9 · see citing works
A Bayesian Approach Toward Robust Multidimensional Ellipsoid-Specific Fitting
Zhao, M.-Y., Jia, X.-H., Ma, L., Shi, Y., Jiang, J., Li, Q.-Z., Yan, D.-M., & Huang, T.-J. (2024) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2024.3432913 · Cited by 10 · see citing works
“For instance, ellipse fitting is widely employed for camera calibration [1], pose estimation [2], object tracking [3], and cell counting in biomedical sciences [4], [5].”
BackgroundPose error analysis method based on a single circular feature
Wang, Z., Chen, D., & Gong, J. (2022) · Pattern Recognition · doi:10.1016/j.patcog.2022.108726 · Cited by 8 · see citing works
6-DoF Pose Estimation of Uncooperative Space Object Using Deep Learning with Point Cloud
Zhang, S., Hu, W., & Guo, W. (2022) · IEEE Aerospace Conference (AERO) · doi:10.1109/aero53065.2022.9843444 · Cited by 8 · see citing works
Self-citationInvestigating vision transformers for bridging domain gap in satellite pose estimation
Lotti, A., Modenini, D., & Tortora, P. (2023) · Studies in Computational Intelligence · doi:10.1007/978-3-031-25755-1_20 · Cited by 7 · see citing works
Liu, Y., Sun, Z., Zhang, L., Xi, L., Dong, W., & Deng, F. Y. (2025) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2025.3539273 · Cited by 6 · see citing works
“Abandoned spacecraft caused by malfunction, breakdown, or end-of-mission eventually become space debris, which not only consumes orbital resources but also poses potential risks to other spacecraft [3], [4].”
Single View-Based Pose Estimation of Unknown Circular Object With RGB-D Camera
Li, Z.-X., Meng, C., Li, D., Liu, L., Yuan, W., & Huang, Z.-W. (2024) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2024.3373564 · Cited by 9 · see citing works
“In general, the methods based on monocular or binocular cameras highly rely on the precision of the detected ellipses [1], [6], [17].”
BackgroundMethodModel-based monocular 6-degree-of-freedom pose tracking for asteroid
Tang, H., Liu, C., Su, Y., Wang, Q., & Hu, W. (2024) · Frontiers in Space Technologies · doi:10.3389/frspt.2024.1337262 · Cited by 5 · see citing works
Self-citationEfficient pose and motion estimation of non-cooperative target based on LiDAR
Li, P., Wang, M., Fu, J., & Zhang, B. (2022) · Applied Optics · doi:10.1364/ao.461539 · Cited by 5 · see citing works
Real-Time Monocular 3-D Pose Tracking for Noncooperative Spacecraft in Close Range
Tang, H., Liu, C., Liu, J., Zhang, P., & Hu, W. (2025) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2025.3568937 · Cited by 4 · see citing works
“Edge-based tracking methods determine the pose by aligning the boundaries of the target projection with the edges extracted from the input image [6], [50], [51], [52], [53], [54], [55], [56], [57], [58], [59], [60], [61], [62], [63], [64], [65].”
InfluentialSelf-citationUnknown Low-Earth-Orbital Satellite Detection by Learning-Based Methods
Huang, Y., Zhang, Z., & Cui, H. (2022) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2022.3228228 · Cited by 4 · see citing works
“To address the aforementioned problem, many researchers try to track more unusual features in images, such as the edges [1], eclipses [2], and 3-D model projection [3], [4].”
BackgroundThe general method of the tanker car mouth pose measurement
Zhou, Y., Wang, L., Lai, Y., & Wang, X. (2023) · Robotic Intelligence and Automation · doi:10.1108/ria-04-2023-0041 · Cited by 4 · see citing works
Kechagias‐Stamatis, O., Aouf, N., & Dubanchet, V. (2019) · Journal of Field Robotics · doi:10.1002/rob.21904 · Cited by 4 · see citing works
“Indeed, current space relative navigation solutions involve 2D visual data in a monocular (Krämer, Hardt, & Kuhnert, 2018; C. Liu & Hu, 2014) or a stereo camera configuration (Li, Lian, Guo, & Wang, 2013; Maimone, Cheng, & Matthies, 2007; Tykkala & Comport, 2011; Cheng, Maimone, & Matthies, 2006),…”
Kortaberria, G., Gomez-Acedo, E., Molina, J., Tellaeche, A., & Mínguez, R. (2019) · Measurement Science and Technology · doi:10.1088/1361-6501/ab0b7d · Cited by 4 · see citing works
“…pose (Huang et al 1996, Doignon and De Mathelin 2007), models considering different image data from shape matching outputs (Shiu and Huang 1991a) or cases where the geometrical dimensions of the element are known a priori (Huang et al 1996, Puech et al 1997, Renaud et al 2005, Liu and Hu 2014).”
BackgroundAn image appearance based optimization scheme for monocular 6D pose estimation of SOR cabins
Yin, X., Fan, X., Yang, X., & Qiu, S. (2019) · Optik · doi:10.1016/j.ijleo.2019.163115 · Cited by 4 · see citing works
Non-Cooperative Spacecraft Pose Estimation Using Convolutional Neural Networks
Despond, F. (2021) · doi:10.22215/etd/2021-14867 · Cited by 4 · see citing works
VIPE: Visible and Infrared Fused Pose Estimation Framework for Space Noncooperative Objects
Zhang, Z., Zhou, D. X., Hu, Y., Ma, W., Sun, G., & Zhang, Y. (2025) · Sensors · doi:10.3390/s25216664 · Cited by 3 · see citing works
“Liu [12] utilized elliptical information to calculate the spacecraft orientation and distance parameters, leveraging the asymmetry of these features to ensure the accuracy of the pose estimation.”
COMBINA: Relative Navigation for Unknown Uncooperative Resident Space Object
Maestrini, M., & Lizia, P. D. (2022) · AIAA SciTech Forum · doi:10.2514/6.2022-2384 · Cited by 3 · see citing works
Hardware/Software Co-Design of a Feature-Based Satellite Pose Estimation System
Liu, Y., Bettens, A., & Wu, X. (2023) · IEEE Journal on Miniaturization for Air and Space Systems · doi:10.1109/jmass.2023.3328879 · Cited by 3 · see citing works
“Previously, feature-based pose estimation was conducted using a single image of a spacecraft that had asymmetric features such as solar panels [12].”
MethodScale-Consistent Learnable PnP Network for Space Target Pose Estimation
Yang, X., Wang, J., & Duan, S. (2025) · IEEE Transactions on Geoscience and Remote Sensing · doi:10.1109/tgrs.2025.3541246 · Cited by 3 · see citing works
“Traditional space target pose estimation typically involves image processing based on manually designed or self-organizing features [18], [19], [20], [21], [22], [23], [24], [25], [26], [27], and prior knowledge of pose [28], [29], [30], [31].”
Mathavaraj, S., & Butcher, E. A. (2024) · Aerospace · doi:10.3390/aerospace11090762 · Cited by 2 · see citing works
High-accuracy iterative 6DoF pose tracking for large-size cabin assembly
Shen, C., Jiang, H., Liu, H., Chen, Y., He, Z., & Zhao, X. (2025) · Measurement Science and Technology · doi:10.1088/1361-6501/adb058 · Cited by 2 · see citing works
“Some researchers iteratively optimizes the detected ellipses to improve the accuracy, like the methods proposed by Huang et al [6, 7] and Liu and Hu [30].”
Xie, Y. H., Xiang-dong, Y., Liu, Z., Ren, S., & Chen, K. (2017) · Machine Intelligence Research · doi:10.1007/s11633-017-1063-1 · Cited by 2 · see citing works
Differentiable Rendering for Pose Estimation in Proximity Operations
Bhaskara, R. R., Eapen, R. T., & Majji, M. (2023) · AIAA SciTech Forum · doi:10.2514/6.2023-2317 · Cited by 2 · see citing works
Problem of angular motion control of a non-cooperative on-orbit service object
Fokov, A. A., & Savchuk, O. P. (2021) · Technical mechanics · doi:10.15407/itm2021.01.037 · Cited by 1 · see citing works
Multi-Ellipse Fitting Based on Kalman Filter
Long, C., Zeng, Y., Ouyang, Z., Guo, P., & Hu, Q. (2023) · Chinese Control Conference (CCC) · doi:10.23919/ccc58697.2023.10240903 · Cited by 1 · see citing works
Monocular Modeling of Non-Cooperative Space Targets Under Adverse Lighting Conditions
Chi, H., Chen, K., & Zhang, J. (2025) · Aerospace · doi:10.3390/aerospace12100901 · Cited by 1 · see citing works
Monocular visual tracking based on spherical target imaging contour fitting
Chen, H., Xia, R., Zhang, Y., Deng, H., & Yi, N. (2026) · Measurement · doi:10.1016/j.measurement.2026.120342 · Cited by 1 · see citing works
Precise outline matching criteria for target pose estimation and odometry from stereo video
Astola, P., Helin, P., Aref, M. M., Mattila, J., Astola, J. T., & Tăbuş, I. (2016) · International Conference on Telecommunications and Signal Processing (TSP) · doi:10.1109/tsp.2016.7760980 · Cited by 1 · see citing works
“The problem of cylinder pose estimation from a single view is also tackled in recent papers for various applications: medical instrument tracking during surgery [2] and spacecraft pose [5], while a recent survey of the methods for model based 3D pose estimation is presented in [1].”
BackgroundReview of Relative Navigation for Noncooperative Spacecraft in Close Range
Wang, D., Hu, Q., Li, W., Hu, H., & Zhang, K. (2020) · Lecture notes in electrical engineering · doi:10.1007/978-981-15-8458-9_81 · Cited by 1 · see citing works
Rock-Ring Accuracy Improvement in Infrared Satellite Image with Subpixel Edge Detection
Zhang, H., Cai, M., & Li, Z. (2018) · Communications in computer and information science · doi:10.1007/978-981-13-1702-6_18
Extrinisic Calibration of a Camera-Arm System Through Rotation IdentificationPreprint
McGuire, S., Heckman, C., Szafir, D. J., Julier, S., & Ahmed, N. R. (2018) · arXiv (Cornell University) · doi:10.48550/arxiv.1812.08280
“In [6], Liu and Hu use a fixed camera to observe a cylindrical spacecraft and estimate pose using a known CAD model to match ellipses to metric features.”
MethodHigh accuracy linear method for axis measurement
Zhong, L., Li, Z., Zhang, X., Shang, Y., & Yu, Q. (2020) · Optical Engineering · doi:10.1117/1.oe.59.2.024101
“EQ-TARGET;temp:intralink-;e008;116;365 Pc 1⁄4 RiPw þ ti; (8)”
Bo, Z., Wan, W., Liu, C., Di, K., Liu, Z., Peng, M., & Wang, Y. (2020) · The international archives of the photogrammetry, remote sensing and spatial information sciences/International archives of the photogrammetry, remote sensing and spatial information sciences · doi:10.5194/isprs-archives-xliii-b3-2020-1099-2020
Self-citationHu, W. (2015) · doi:10.1002/9781119113034.ch8
Self-citationEllipse Fitting Based on Neural Network Optimization
Long, C., Liu, P., & Hu, Q. (2022) · Chinese Control Conference (CCC) · doi:10.23919/ccc55666.2022.9901572
6-DOF Pose Estimation for Spacecraft Based on Soft Classification of Euler Angles Optimization
Tan, Q., Zhou, D. X., Zhang, Z., Zhang, Z., Liu, H., & Shao, X. (2023) · China Automation Congress (CAC) · doi:10.1109/cac59555.2023.10451125
Pose Estimation for Non-Cooperative Spacecraft Based on Deep LearningPreprint
GAO, X., Liu, C., Liu, J., & Hu, W. (2024) · SSRN Electronic Journal · doi:10.2139/ssrn.4887267
Self-citationRelative Pose Estimation of an Uncooperative Target with Camera Marker Detection
Candan, B., & Servadio, S. (2025) · Aerospace · doi:10.3390/aerospace12050425
Monocular-vision-based non-cooperative spacecraft tracking for close-proximity missions
Tang, H., Liu, C., Wang, Q., & Hu, W. (2025) · Measurement Science and Technology · doi:10.1088/1361-6501/ae1a06
“Despite their accuracy, these methods are heavily reliant on specific GPs and, furthermore, sensitive to self-occlusion and viewpoint changes [10].”
Self-citationZhao, X., Zhang, X. G., Li, H., Zhang, L., & Zhang, F. (2026) · Applied Optics · doi:10.1364/ao.582231
Eye of the Spacecraft: A Spaceborne Vision System for Multiscale Space Target Detection and Tracking
Chen, Z., Li, J., & Zhang, G. (2026) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2026.3664589
“Liu and Hu [29] extracted elliptical structures from target images, utilizing solar panel characteristics and asymmetrical features to estimate the pose of the spacecraft’s main body using 3-”
融合多任务学习与混合域自适应的端到端空间目标位姿估计方法（特邀）
Shengli, 刘. L., Chunguang, L., Zhen, 闫. Y., & Yutian, 武. W. (2026) · Laser & Optoelectronics Progress · doi:10.3788/lop260996
- Authors
- Liu, C., & Hu, W.
- Affiliations
- Beihang University (CN)
- ORCID
- Venue
- IEEE Transactions on Aerospace and Electronic Systems
- Published
- 2014-10
- Volume
- 50
- Issue
- 4
- Pages
- 3036-3056
- ISSN
- 0018-9251 (ISSN-L)
- OpenAlex
- W2064607980
- Cited by
- 101
- References
- 49
- Citations by year
- 2026: 5 · 2025: 9 · 2024: 9 · 2023: 14 · 2022: 9 · 2021: 10 · 2020: 8 · 2019: 14 · 2018: 13 · 2017: 5 · 2016: 3 · 2015: 1 · 2014: 1
- FWCI
- 4.92
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Aerospace and Electronic Systems (publishedVersion)
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Space Satellite Systems and Control
- Physical Sciences › Engineering › Aerospace Engineering › Spacecraft Dynamics and Control
- Physical Sciences › Engineering › Ocean Engineering › Satellite Image Processing and Photogrammetry
- Keywords
- relative pose estimation, single image, solids of revolution, solar panels, cross-section images
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