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
- 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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