SU-Net: pose estimation network for non-cooperative spacecraft on-orbit

Abstract

Abstract The estimation of spacecraft pose is crucial in numerous space missions, including rendezvous and docking, debris removal, and on-orbit maintenance. Estimating the pose of space objects is significantly more challenging than that of objects on Earth, primarily due to the widely varying lighting conditions, low resolution, and limited amount of data available in space images. Our main proposal is a new deep learning neural network architecture, which can effectively extract orbiting spacecraft features from images captured by inverse synthetic aperture radar (ISAR) for pose estimation of non-cooperative on orbit spacecraft. Specifically, our model enhances spacecraft imaging by improving image contrast, reducing noise, and using transfer learning to mitigate data sparsity issues via a pre-trained model. To address sparse features in spacecraft imaging, we propose a dense residual U-Net network that employs dense residual block to reduce feature loss during downsampling. Additionally, we introduce a multi-head self-attention block to capture more global information and improve the model’s accuracy. The resulting tightly interlinked architecture, named as SU-Net, delivers strong performance gains on pose estimation by spacecraft ISAR imaging. Experimental results show that we achieve the state of the art results, and the absolute error of our model is 0.128 $$^{\circ }$$ ∘ to 0.4491 $$^{\circ }$$ ∘ , the mean error is about 0.282 $$^{\circ }$$ ∘ , and the standard deviation is about 0.065 $$^{\circ }$$ ∘ . The code are released at https://github.com/Tombs98/SU-Net .