• Acta Optica Sinica
  • Vol. 45, Issue 7, 0712004 (2025)
Jiaqi Feng1,2, Zhongguang Yang1, Zhang Zhang1,2, Wen Chen1..., Jinpei Yu1,* and Liang Chang1|Show fewer author(s)
Author Affiliations
  • 1Innovation Academy for Microsatellites of Chinese Academy of Sciences, Shanghai 201306, China
  • 2University of Chinese Academy of Sciences, Beijing 100039, China
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    DOI: 10.3788/AOS241790 Cite this Article Set citation alerts
    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 Copy Citation Text show less
    Illustration of application scenarios and coordinate systems
    Fig. 1. Illustration of application scenarios and coordinate systems
    Flowchart of method
    Fig. 2. Flowchart of method
    Flowchart of pose graph update
    Fig. 3. Flowchart of pose graph update
    Experimental scenario
    Fig. 4. Experimental scenario
    Examples of lidar scanning point cloud
    Fig. 5. Examples of lidar scanning point cloud
    Mixed pixel noise
    Fig. 6. Mixed pixel noise
    Comparison of attitude estimates with other methods
    Fig. 7. Comparison of attitude estimates with other methods
    Comparison of position estimates with other methods
    Fig. 8. Comparison of position estimates with other methods
    Comparison of attitude estimation error with other methods
    Fig. 9. Comparison of attitude estimation error with other methods
    Comparison of position estimation error with other methods
    Fig. 10. Comparison of position estimation error with other methods
    Comparison of point cloud model before and after pose graph optimization
    Fig. 11. Comparison of point cloud model before and after pose graph optimization
    Final reconstructed point cloud model
    Fig. 12. Final reconstructed point cloud model
    Computational time of methods
    Fig. 13. Computational time of methods
    ParameterValue
    Laser wavelength1550 nm
    Field of viewHorizontal 45°; Vertical 25°
    Angular resolutionHorizontal 0.03°; Vertical 0.05°
    Frame rate1‒20 frame /s
    Laser scanning frequency500 kHz
    Distance measurement accuracy2 cm
    Table 1. Lidar parameters
    Methodθx /(°)θy /(°)θz /(°)px /mpy /mpz /m
    Ours2.341.671.710.0330.0070.025
    Ref [174.473.654.290.0560.0150.056
    ICP4.9287.644.060.2210.0310.218
    Table 2. Pose mean absolute error comparison
    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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