NeRF-based Visualization of 3D Cues Supporting Data-Driven Spacecraft Pose Estimation
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866917027866738688 |
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| author | Legrand, Antoine Detry, Renaud De Vleeschouwer, Christophe |
| author_facet | Legrand, Antoine Detry, Renaud De Vleeschouwer, Christophe |
| contents | On-orbit operations require the estimation of the relative 6D pose, i.e., position and orientation, between a chaser spacecraft and its target. While data-driven spacecraft pose estimation methods have been developed, their adoption in real missions is hampered by the lack of understanding of their decision process. This paper presents a method to visualize the 3D visual cues on which a given pose estimator relies. For this purpose, we train a NeRF-based image generator using the gradients back-propagated through the pose estimation network. This enforces the generator to render the main 3D features exploited by the spacecraft pose estimation network. Experiments demonstrate that our method recovers the relevant 3D cues. Furthermore, they offer additional insights on the relationship between the pose estimation network supervision and its implicit representation of the target spacecraft. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_14890 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | NeRF-based Visualization of 3D Cues Supporting Data-Driven Spacecraft Pose Estimation Legrand, Antoine Detry, Renaud De Vleeschouwer, Christophe Computer Vision and Pattern Recognition On-orbit operations require the estimation of the relative 6D pose, i.e., position and orientation, between a chaser spacecraft and its target. While data-driven spacecraft pose estimation methods have been developed, their adoption in real missions is hampered by the lack of understanding of their decision process. This paper presents a method to visualize the 3D visual cues on which a given pose estimator relies. For this purpose, we train a NeRF-based image generator using the gradients back-propagated through the pose estimation network. This enforces the generator to render the main 3D features exploited by the spacecraft pose estimation network. Experiments demonstrate that our method recovers the relevant 3D cues. Furthermore, they offer additional insights on the relationship between the pose estimation network supervision and its implicit representation of the target spacecraft. |
| title | NeRF-based Visualization of 3D Cues Supporting Data-Driven Spacecraft Pose Estimation |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2509.14890 |