Test-time adaptation for keypoint-based spacecraft pose estimation based on predicted-view synthesis
Due to the difficulty of replicating the real conditions during training, supervised algorithms for spacecraft pose estimation experience a drop in performance when trained on synthetic data and applied to real operational data. To address this issue, we propose a test-time adaptation approach that...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universidad Autónoma de Madrid |
| Repositorio: | Biblos-e Archivo. Repositorio Institucional de la UAM |
| Idioma: | inglés |
| OAI Identifier: | oai:repositorio.uam.es:10486/715632 |
| Acceso en línea: | http://hdl.handle.net/10486/715632 https://dx.doi.org/10.1109/TAES.2024.3410956 |
| Access Level: | acceso abierto |
| Palabra clave: | Adaptation models Feature extraction Keypoint pose estimation Pose estimation Space heating Space vehicles Task analysis test time adaptation Training view synthesis Telecomunicaciones |
| Sumario: | Due to the difficulty of replicating the real conditions during training, supervised algorithms for spacecraft pose estimation experience a drop in performance when trained on synthetic data and applied to real operational data. To address this issue, we propose a test-time adaptation approach that leverages the temporal redundancy between images acquired during close proximity operations. Our approach involves extracting features from sequential spacecraft images, estimating their poses, and then using this information to synthesise a reconstructed view. We establish a self-supervised learning objective by comparing the synthesised view with the actual one. During training, we supervise both pose estimation and image synthesis, while at test-time, we optimise the self-supervised objective. Additionally, we introduce a regularisation loss to prevent solutions that are not consistent with the keypoint structure of the spacecraft |
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