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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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“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]
In the citing paper
“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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BackgroundNeural Network-Based Pose Estimation for Noncooperative Spacecraft Rendezvous
Sharma, S., & D'Amico, S. (2020) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2020.2999148 · Cited by 196
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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.”
MethodPhisannupawong, T., Kamsing, P., Torteeka, P., Channumsin, S., Sawangwit, U., Hematulin, W., Jarawan, T., Somjit, T., Yooyen, S., Delahaye, D., et al. (2020) · Aerospace · doi:10.3390/aerospace7090126 · Cited by 84
“[9] applied the edge detection algorithm to extract meaningful features from the images of a cylinder-shaped spacecraft.”
MethodSatellite Pose Estimation via Single Perspective Circle and Line
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“Various methods [1]–[9] have been studied to estimate the pose of satellite in space rendezvous and capture.”
MethodPeng, J., Xu, W., Yan, L., Pan, E., Liang, B., & Wu, A. (2019) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2019.2914536 · Cited by 67
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BackgroundVision-Based Pose Estimation for Textureless Space Objects by Contour Points Matching
Zhang, X., Jiang, Z., Zhang, H., & Wei, Q. (2018) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2018.2815879 · Cited by 61
“[10] specialize in cylinder-shaped space objects and applies ellipse extraction to determine pose parameters.”
BackgroundComparison of filtering techniques for relative attitude estimation of uncooperative space objects
Pesce, V., Haydar, M. F., Lavagna, M. R., & Lovera, M. (2018) · Aerospace Science and Technology · doi:10.1016/j.ast.2018.10.031 · Cited by 48
“Vision-based algorithms for relative state estimation follow two main approaches: directly processing the measurement of the feature points of an image with Kalman filters [3, 4] or using advanced image processing techniques for pose determination [7, 8].”
MethodDeep Learning for Spacecraft Pose Estimation from Photorealistic Rendering
Proenca, P. F., & Gao, Y. (2019) · arXiv · Cited by 251
“Previous monocular solutions [6–11] to spacecraft tracking and pose estimation rely on model-based approaches (e.”
BackgroundAn introductory review of swarm technology for spacecraft on‐orbit servicing
Asri, E. G., & Zhu, Z. H. (2024) · International journal of mechanical system dynamics · doi:10.1002/msd2.12098 · Cited by 36
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Cavenago, F., Lizia, P. D., Massari, M., & Wittig, A. (2018) · Acta Astronautica · doi:10.1016/j.actaastro.2018.11.020 · Cited by 36
“relative position rr and velocity vr can be defined as: rr = xr̂ + yθ̂ + zĥ (15)”
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Zhang, H., Wang, P., Zhang, C., & Jiang, Z. (2019) · Sensors · doi:10.3390/s19143234 · Cited by 35
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Maestrini, M., Luca, M. A. D., & Lizia, P. D. (2023) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g007337 · Cited by 33
Long, C., & Hu, Q. (2022) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2022.3181681 · Cited by 34
“For the first kind, Liu and Hu [26] recovered the pose of the spacecraft by reprojecting all the edge pixels of the ellipse to 3-D space; however, the unit constraint cannot be strictly satisfied when the iterative solution is made, which results in a nonoptimal solution of the relative pose.”
BackgroundMethodInfluentialA coaxial alignment method for large aircraft component assembly using distributed monocular vision
Li, S., Deng, Z., Zeng, Q. Y., & Huang, X. (2018) · Assembly Automation · doi:10.1108/aa-11-2017-163 · Cited by 31
Design of relative trajectories for in orbit proximity operations
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6-D pose estimation method for large gear structure assembly using monocular vision
Zhou, K., Huang, X., Li, S.-G., Li, H.-Y., & Kong, S. (2021) · Measurement · doi:10.1016/j.measurement.2021.109854 · Cited by 25
Wei, Y., Yang, X. J., Bai, X., & Xu, Z. (2023) · Aerospace Science and Technology · doi:10.1016/j.ast.2023.108832 · Cited by 29
Huang, H., Zhao, G., Gu, D., & Bo, Y. (2021) · IEEE Sensors Journal · doi:10.1109/jsen.2021.3115844 · Cited by 27
“Liu and Hu [15] estimated the pose of the target spacecraft by matching the edge points obtained from ellipse detection with the CAD model; the pose is refined in terms of the projections of the solar panels and an asymmetric feature.”
MethodGuo, J., He, Y., Qi, X., Wu, G., Hu, Y., Li, B., & Zhang, J. (2019) · Aerospace Science and Technology · doi:10.1016/j.ast.2019.105619 · Cited by 25
Pose Initialization of Uncooperative Spacecraft by Template Matching with Sparse Point Cloud
Guo, W., Hu, W., Liu, C., & Lu, T. (2021) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g005042 · Cited by 24
Self-citationSE(3)-Constrained Extended Kalman Filtering for Rigid Body Pose Estimation
Mathavaraj, S., & Butcher, E. A. (2021) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2021.3139291 · Cited by 23
Real-time geometric fitting and pose estimation for surface of revolution
Liu, C., & Hu, W.-D. (2019) · Pattern Recognition · doi:10.1016/j.patcog.2018.08.002 · Cited by 22
Self-citationBiological Eagle-Eye-Based Visual Platform for Target Detection
Deng, Y., & Duan, H. (2018) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2018.2845178 · Cited by 22
“Visionbased detection algorithms have been widely applied to execute various missions, such as automatic target recognition [5], [6], surveillance [7], [8], search and rescue [9], robot navigation [10], aerial refueling [11]–[13], and pose estimation [14], [15].”
MethodReal-Time Vision-Based Pose Tracking of Spacecraft in Close Range Using Geometric Curve Fitting
Liu, C., Guo, W., Hu, W., Chen, R., & Liu, J. (2020) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2020.2996074 · Cited by 22
“Thus, many authors have paid much attention to GP-based pose estimation, particularly for spacecraft [4], [26]–[35], since on spacecraft there exist plenty of GPs.”
BackgroundMethodSelf-citationSU-Net: pose estimation network for non-cooperative spacecraft on-orbit
Gao, H., Li, Z., Wang, N., Yang, J., & Dang, D. (2023) · Scientific Reports · doi:10.1038/s41598-023-38974-1 · Cited by 25
An efficient circle detector not relying on edge detection
Cai, J., Huang, P., Chen, L., & Zhang, B. (2016) · Advances in Space Research · doi:10.1016/j.asr.2016.03.026 · Cited by 22
Robust ellipse fitting via alternating direction method of multipliers
Liang, J., Li, P., Zhou, D., So, H. C., Liu, D., Leung, C.-S., & Sui, L. (2019) · Signal Processing · doi:10.1016/j.sigpro.2019.05.032 · Cited by 22
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Rondao, D., Aouf, N., Richardson, M. A., & Dubanchet, V. (2021) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g004794 · Cited by 21
A circular feature-based pose measurement method for metal part grasping
Wu, C., He, Z., Zhang, S., & Zhao, X. (2017) · Measurement Science and Technology · doi:10.1088/1361-6501/aa87ea · Cited by 21
“3 It was pointed out in [15] that two intersecting planes can be found that intersect the cone with a circular intersection.”
Background3D object recognition from cluttered and occluded scenes with a compact local feature
Guo, W., Hu, W., Liu, C., & Lu, T. (2019) · Machine Vision and Applications · doi:10.1007/s00138-019-01027-7 · Cited by 21
Self-citationPrecise pose and radius estimation of circular target based on binocular vision
Liu, Z., Liu, X., Duan, G., & Tan, J. (2018) · Measurement Science and Technology · doi:10.1088/1361-6501/aaf8c8 · Cited by 20
Laboratory test of pose determination algorithms for uncooperative spacecraft
Opromolla, R., Fraia, M. Z. D., Fasano, G., Rufino, G., & Grassi, M. (2017) · IEEE International Workshop on Metrology for AeroSpace (MetroAeroSpace) · doi:10.1109/metroaerospace.2017.7999558 · Cited by 16
Monocular Vision-Based Pose Determination in Close Proximity for Low Impact Docking
Liu, G., Xu, C., Zhu, Y., & Zhao, J. (2019) · Sensors · doi:10.3390/s19153261 · Cited by 16
“Liu and Hu proposed a new architecture for estimating the relative poses of cylindrical spacecrafts [17].”
BackgroundUncooperative Spacecraft Pose Estimation Using Monocular Monochromatic Images
Shi, J.-F., & Ulrich, S. (2021) · Journal of Spacecraft and Rockets · doi:10.2514/1.a34775 · Cited by 15
Motion estimation of uncooperative space objects: A case of multi-platform fusion
Zarei‐Jalalabadi, M., & Malaek, S. M. (2018) · Advances in Space Research · doi:10.1016/j.asr.2018.07.031 · Cited by 14
Pose Estimation for Non-Cooperative Rendezvous Using Neural Networks
Sharma, S., & D'Amico, S. (2019) · arXiv · Cited by 40
Monocular Satellite Pose Estimation Based on Uncertainty Estimation and Self-Assessment
Wang, J., Li, Y., Li, Z., Wang, Z., & Yu, Q. (2024) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2024.3441569 · Cited by 13
“Liu and Hu [39] and Feng et al. [40] postulate that logit vectors follow a Gaussian distribution, which is subsequently converted to a categorical distribution using the Monte Carlo sampling technique outlined in [41].”
Deng, Z., Lili, S., Hao, F., Zhang, B., & He, Y. (2021) · Measurement Science and Technology · doi:10.1088/1361-6501/ac42e4 · Cited by 12
“Liu [22] proposed a space circular posture calculation method for spacecraft rendezvous and docking in space.”
A low-dimensional binary-based descriptor for unknown satellite relative pose estimation
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Hu, J., Li, S., & Xin, M. (2024) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2024.3424428 · Cited by 11
“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
Zhang, H., Zhang, C., Jiang, Z., Yao, Y., & Meng, G. (2019) · International Journal of Aerospace Engineering · doi:10.1155/2019/5921246 · Cited by 11
“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].”
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Liu, Y., & Wu, X. (2022) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2022.3188232 · Cited by 11
“Liu and Hu [6] designed a spacecraft pose determination algorithm by extracting its solar panels and asymmetric features from the image.”
BackgroundPose Estimation of a Noncooperative Target Based on Monocular Visual SLAM
Lei, T., Liu, X., Cai, G., Liu, Y., & Liu, P. (2019) · International Journal of Aerospace Engineering · doi:10.1155/2019/9086891 · Cited by 11
“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.”
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Ellipse fitting for imaged cross sections of a surface of revolution
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Self-citationA hybrid relative navigation algorithm for a large–scale free tumbling non–cooperative target
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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
Circular-Feature-Based Pose Estimation of Noncooperative Satellite Using Time-of-Flight Sensor
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Neural-Network-Based Pose Estimation During Noncooperative Spacecraft Rendezvous Using Point Cloud
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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
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
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
“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
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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
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“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
“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
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
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
“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
“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
Kechagias‐Stamatis, O., Aouf, N., & Dubanchet, V. (2019) · Journal of Field Robotics · doi:10.1002/rob.21904 · Cited by 4
“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
“…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
Non-Cooperative Spacecraft Pose Estimation Using Convolutional Neural Networks
Despond, F. (2021) · doi:10.22215/etd/2021-14867 · Cited by 4
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
“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
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
“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
“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
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
“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
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
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
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
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
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
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
“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
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
Metadata
- 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 › Computer Science › Computer Vision and Pattern Recognition › Satellite Image Processing and Photogrammetry
- Keywords
- relative pose estimation, single image, solids of revolution, solar panels, cross-section images
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