文献类型：期刊文献

英文题名：Robust feature-free pose tracking and uncertainty-aware geometry reconstruction for spinning non-cooperative targets

作者：Ding, Hongkai[1];Yi, Jianjun[1];Wang, Zhuoran[1];Mou, Jinzhen[2,3];Han, Fei[2,3]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China;[2]Shanghai Aerosp Control Technol Inst, Shanghai 201109, Peoples R China;[3]Shanghai Key Lab Aerosp Intelligent Control Techn, Shanghai 201109, Peoples R China

年份：2022

卷号：102

起止页码：30

外文期刊名：COMPUTERS & GRAPHICS-UK

收录：;EI(收录号：20214911275918);WOS:【SCI-EXPANDED(收录号:WOS:000730979600004)】；

语种：英文

外文关键词：Spinning target; Robust registration; Loop closure detection; Uncertainty modeling; Probabilistic reconstruction

摘要：Pose tracking and geometry reconstruction are greatly significant for the high-level perceptual understanding and close-proximity operations of dynamic and geometrically unknown non-cooperative targets in space. However, the performance degrades severely under the commonly outlier-contaminated and corrupted measurements acquired from Time-of-Flight (ToF) cameras. In this paper, we are motivated to investigate the framework of both robust pose tracking and reliable geometry reconstruction. For the pose tracking, we propose an improved robust Iterative Closest Point (ICP) method based on adaptive Iteratively Reweighted Least Squares (IRLS), which can gradually jump out of the local minima in a naturally coarse-to-fine fashion. Besides, we put forward a hybrid feature-free loop closure detection approach to efficiently eliminate the accumulated error, meanwhile avoiding the ambiguity caused by the symmetrical structure. Regrading the geometry reconstruction, we present an explicit and general geometry uncertainty description, incorporated into a mixture-based probabilistic fusion method, to cope with the reconstruction defects. The experimental results show that our pose tracking and geometry reconstruction methods can achieve better performance in terms of robustness and accuracy. (C) 2021 Elsevier Ltd. All rights reserved.