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空间非合作旋转目标的模型重建与位姿优化.docx

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空间非合作旋转目标的模型重建与位姿优化 Title:ModelReconstructionandPoseOptimizationforNon-cooperativeRotatingObjectsinSpace Abstract: Modelreconstructionandposeoptimizationfornon-cooperativerotatingobjectsinspaceplayavitalroleinvariousapplications,includingroboticmanipulation,spacedebristracking,andsatellitedocking.Thispaperpresentsacomprehensivestudyonthechallenges,techniques,andalgorithmsinvolvedinthereconstructionandposeestimationofsuchobjects.Weproposeanovelapproachthatcombinesvisual-based3Dmodelreconstructiontechniqueswithposeoptimizationalgorithms.Throughextensiveexperiments,wedemonstratetheeffectivenessandaccuracyofourapproachinreconstructingnon-cooperativerotatingobjectsandestimatingtheirposesinspace. 1.Introduction Non-cooperativerotatingobjectsinspace,suchasspacedebrisorsatellites,posechallengesintermsofmodelreconstructionandposeestimationduetotheiruncontrolledmotionandlackofcooperativebehavior.Accurate3Dmodelconstructionandposeestimationoftheseobjectsareessentialforvariousspaceoperations,includingcapturing,docking,andavoidingcollisions.Thispaperaimstoaddressthesechallengesandproposearobustapproachthatcombinesvisual-basedreconstructiontechniqueswithsophisticatedposeoptimizationalgorithms. 2.RelatedWork Previousresearchhasfocusedonreconstructingandestimatingtheposesofstaticorcooperativeobjectsinspace.Whilethesemethodshaveyieldedpromisingresults,theireffectivenessbecomeslimitedwhendealingwithnon-cooperativerotatingobjects.Thissectionpresentsanoverviewofexistingtechniquesandtheirlimitationsinthecontextofnon-cooperativerotatingobjects. 3.Methodology Ourproposedapproachconsistsoftwomainstages:modelreconstructionandposeoptimization.Inthemodelreconstructionstage,multipleimagesorvideostreamsofthetargetobjectarecapturedfromdifferentperspectives.Theseimagesarethenprocessedusingstate-of-the-artvisual-basedreconstructiontechniques,suchasstructurefrommotionormulti-viewstereo,togeneratea3Dpointcloudormeshrepresentingtheobject. Theposeoptimizationstageutilizesthereconstructedmodelandadditi