Jiaqi Feng, Zhongguang Yang, Zhang Zhang, Wen Chen, Jinpei Yu, Liang Chang. Point Cloud Model Reconstruction and Pose Estimation of Non-Cooperative Spacecraft Without Feature Extraction[J]. Acta Optica Sinica, 2025, 45(7): 0712004

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- Acta Optica Sinica
- Vol. 45, Issue 7, 0712004 (2025)

Fig. 1. Illustration of application scenarios and coordinate systems

Fig. 2. Flowchart of method

Fig. 3. Flowchart of pose graph update

Fig. 4. Experimental scenario

Fig. 5. Examples of lidar scanning point cloud

Fig. 6. Mixed pixel noise

Fig. 7. Comparison of attitude estimates with other methods

Fig. 8. Comparison of position estimates with other methods

Fig. 9. Comparison of attitude estimation error with other methods

Fig. 10. Comparison of position estimation error with other methods

Fig. 11. Comparison of point cloud model before and after pose graph optimization

Fig. 12. Final reconstructed point cloud model

Fig. 13. Computational time of methods
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Table 1. Lidar parameters
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Table 2. Pose mean absolute error comparison

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