{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T12:41:37Z","timestamp":1785415297724,"version":"3.56.0"},"reference-count":35,"publisher":"Optica Publishing Group","issue":"8","license":[{"start":{"date-parts":[[2024,3,4]],"date-time":"2024-03-04T00:00:00Z","timestamp":1709510400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/doi.org\/10.1364\/OA_License_v2#VOR"},{"start":{"date-parts":[[2024,3,4]],"date-time":"2024-03-04T00:00:00Z","timestamp":1709510400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/opg.optica.org\/policies\/opg-tdm-policy.json"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62173107"],"award-info":[{"award-number":["62173107"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U23A20346"],"award-info":[{"award-number":["U23A20346"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["opg.optica.org"],"crossmark-restriction":false},"short-container-title":["Appl. Opt."],"published-print":{"date-parts":[[2024,3,10]]},"abstract":"<jats:p>The relative attitude estimation between chasers and uncooperative targets is an important prerequisite for executing in orbit service (OOS) tasks. Only by efficiently obtaining relative pose parameters can chasers design close-range rendezvous trajectories close to uncooperative targets. The focus of this article is on active systems, such as TOF cameras or LIDAR. This paper proposes an attitude estimation scheme to obtain relative attitude parameters between uncooperative targets. This scheme utilizes LIDAR to obtain three-dimensional point clouds of non-cooperative targets, extracts key points and simplifies the number of point clouds through joint farthest point sampling and point cloud feature analysis, and then uses point fast feature histograms (FPFHs) and robust iterative closest point algorithms to achieve point cloud registration between every two frames. Finally, a filtering framework was designed, whose scheme is an extended Kalman filter designed for updating measurements of relative position, velocity, attitude, and angular velocity estimation. The experimental results show that this method can effectively achieve point cloud registration for close range rotation and translation motion, and can estimate the motion state of the target.<\/jats:p>","DOI":"10.1364\/ao.517023","type":"journal-article","created":{"date-parts":[[2024,2,7]],"date-time":"2024-02-07T08:00:54Z","timestamp":1707292854000},"page":"1952","update-policy":"https:\/\/doi.org\/10.1364\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Motion prediction of tumbling uncooperative spacecraft during proximity operations"],"prefix":"10.1364","volume":"63","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6675-4863","authenticated-orcid":true,"given":"Peng","family":"Li","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/01yqg2h08","id-type":"ROR","asserted-by":"publisher"}]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mao","family":"Wang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/01yqg2h08","id-type":"ROR","asserted-by":"publisher"}]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhao","family":"Zhang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/01yqg2h08","id-type":"ROR","asserted-by":"publisher"}]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bing","family":"Zhang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/01yqg2h08","id-type":"ROR","asserted-by":"publisher"}]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yankun","family":"Wang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/01yqg2h08","id-type":"ROR","asserted-by":"publisher"}]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"285","published-online":{"date-parts":[[2024,3,4]]},"reference":[{"key":"ao-63-8-1952-R1","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1016\/j.paerosci.2015.11.001","volume":"80","author":"Shan","year":"2016","journal-title":"Prog. Aerosp. Sci."},{"key":"ao-63-8-1952-R2","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1016\/j.paerosci.2017.07.001","volume":"93","author":"Opromolla","year":"2017","journal-title":"Prog. Aerosp. Sci."},{"key":"ao-63-8-1952-R3","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1016\/j.asr.2011.02.012","volume":"48","author":"Xu","year":"2011","journal-title":"Adv. Space Res."},{"key":"ao-63-8-1952-R4","doi-asserted-by":"publisher","first-page":"14405","DOI":"10.1007\/s11042-018-6696-8","volume":"79","author":"Hu","year":"2020","journal-title":"Multimedia Tools Appl."},{"key":"ao-63-8-1952-R5","doi-asserted-by":"publisher","first-page":"6164","DOI":"10.1364\/AO.57.006164","volume":"57","author":"Zhang","year":"2018","journal-title":"Appl. Opt."},{"key":"ao-63-8-1952-R6","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1109\/TAES.2017.2650785","volume":"53","author":"Opromolla","year":"2017","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ao-63-8-1952-R7","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/j.actaastro.2015.02.002","volume":"111","author":"Lim","year":"2015","journal-title":"Acta Astron."},{"key":"ao-63-8-1952-R8","doi-asserted-by":"publisher","first-page":"180012","DOI":"10.1109\/ACCESS.2019.2959438","volume":"7","author":"Opromolla","year":"2019","journal-title":"IEEE Access"},{"key":"ao-63-8-1952-R9","doi-asserted-by":"publisher","first-page":"418","DOI":"10.1016\/j.actaastro.2018.10.033","volume":"155","author":"Davis","year":"2019","journal-title":"Acta Astron."},{"key":"ao-63-8-1952-R10","doi-asserted-by":"publisher","first-page":"414","DOI":"10.1016\/j.optlastec.2012.06.015","volume":"45","author":"Chen","year":"2013","journal-title":"Opt. Laser Technol."},{"key":"ao-63-8-1952-R11","doi-asserted-by":"publisher","first-page":"7820","DOI":"10.1364\/AO.461539","volume":"61","author":"Li","year":"2022","journal-title":"Appl. Opt."},{"key":"ao-63-8-1952-R12","doi-asserted-by":"publisher","first-page":"159","DOI":"10.1016\/j.actaastro.2013.12.005","volume":"96","author":"Regoli","year":"2014","journal-title":"Acta Astron."},{"key":"ao-63-8-1952-R13","doi-asserted-by":"publisher","first-page":"5834","DOI":"10.1109\/JSEN.2022.3148390","volume":"22","author":"He","year":"2022","journal-title":"IEEE Sens. J."},{"key":"ao-63-8-1952-R14","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1016\/j.actaastro.2017.07.002","volume":"139","author":"Mart\u00ednez","year":"2017","journal-title":"Acta Astron."},{"key":"ao-63-8-1952-R15","doi-asserted-by":"publisher","first-page":"586","DOI":"10.1117\/12.57955","volume":"1611","author":"Besl","year":"1992","journal-title":"Proc. SPIE"},{"key":"ao-63-8-1952-R16","first-page":"742","article-title":"NICP: dense normal based point cloud registration","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Serafin","year":"2015"},{"key":"ao-63-8-1952-R17","doi-asserted-by":"crossref","first-page":"2861","DOI":"10.1109\/ICRA.2015.7139589","article-title":"Simultaneous estimation of shape and motion of an asteroid for automatic navigation","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Takeishi","year":"2015"},{"key":"ao-63-8-1952-R18","first-page":"1","article-title":"Vision-based attitude determination using a slam algorithm during relative circumnavigation of non-cooperative objects","volume-title":"67th International Astronautical Congress, IAC, Guadalajara","author":"Antonello","year":"2017"},{"key":"ao-63-8-1952-R19","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"Mur-Artal","year":"2015","journal-title":"IEEE Trans. Robot."},{"key":"ao-63-8-1952-R20","first-page":"1963","article-title":"ORB-SLAM applied to spacecraft non-cooperative rendezvous","volume-title":"Space Flight Mechanics Meeting","author":"Dor","year":"2018"},{"key":"ao-63-8-1952-R22","doi-asserted-by":"publisher","first-page":"1816","DOI":"10.1109\/TSMC.2023.3329970","volume":"54","author":"Fu","year":"2023","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"key":"ao-63-8-1952-R23","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2017\/4535316","volume":"2017","author":"Volpe","year":"2017","journal-title":"Int. J. Aerosp. Eng."},{"key":"ao-63-8-1952-R24","doi-asserted-by":"publisher","first-page":"568","DOI":"10.1109\/TCST.2013.2255288","volume":"22","author":"Segal","year":"2013","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ao-63-8-1952-R25","doi-asserted-by":"publisher","first-page":"1761","DOI":"10.2514\/1.35188","volume":"31","author":"Ma","year":"2008","journal-title":"J. Guid. Control. Dyn."},{"key":"ao-63-8-1952-R26","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1016\/j.actaastro.2016.12.031","volume":"132","author":"Xu","year":"2017","journal-title":"Acta Astron."},{"key":"ao-63-8-1952-R27","article-title":"Motion and parameter estimation of a free-floating space object from range data for motion prediction","volume-title":"Proceedings of i-SAIRAS","author":"Hillenbrand","year":"2005"},{"key":"ao-63-8-1952-R28","first-page":"7163","article-title":"PointNetLK: robust & efficient point cloud registration using PointNet","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","author":"Aoki","year":"2019"},{"key":"ao-63-8-1952-R29","first-page":"361","article-title":"USIP: unsupervised stable interest point detection from 3D point clouds","volume-title":"Proceedings of the IEEE\/CVF International Conference on Computer Vision","author":"Li","year":"2019"},{"key":"ao-63-8-1952-R30","first-page":"6359","article-title":"D3Feat: Joint learning of dense detection and description of 3D local features","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","author":"Bai","year":"2020"},{"key":"ao-63-8-1952-R31","first-page":"2514","article-title":"Deep global registration","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","author":"Choy","year":"2020"},{"key":"ao-63-8-1952-R32","first-page":"623","article-title":"AlignNet-3D: fast point cloud registration of partially observed objects","volume-title":"International Conference on 3D Vision (3DV)","author":"Gro\u00df","year":"2019"},{"key":"ao-63-8-1952-R33","first-page":"1","article-title":"PRNrnet: self-supervised learning for partial-to-partial registration","volume-title":"Advances in Neural Information Processing Systems","author":"Wang","year":"2019"},{"key":"ao-63-8-1952-R34","first-page":"3212","article-title":"Fast point feature histograms (FPFH) for 3D registration","volume-title":"IEEE International Conference on Robotics and Automation","author":"Rusu","year":"2009"},{"key":"ao-63-8-1952-R35","doi-asserted-by":"crossref","first-page":"1451","DOI":"10.1109\/ICRA.2019.8793791","article-title":"Analysis of robust functions for registration algorithms","volume-title":"International Conference on Robotics and Automation (ICRA)","author":"Babin","year":"2019"},{"key":"ao-63-8-1952-R36","first-page":"2207","article-title":"3D scan registration using the normal distributions transform with ground segmentation and point cloud clustering","volume-title":"IEEE International Conference on Robotics and Automation","author":"Das","year":"2013"}],"container-title":["Applied Optics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/opg.optica.org\/viewmedia.cfm?URI=ao-63-8-1952&seq=0","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,6]],"date-time":"2024-08-06T15:32:59Z","timestamp":1722958379000},"score":1,"resource":{"primary":{"URL":"https:\/\/opg.optica.org\/abstract.cfm?URI=ao-63-8-1952"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,4]]},"references-count":35,"journal-issue":{"issue":"8","published-online":{"date-parts":[[2024]]},"published-print":{"date-parts":[[2024]]}},"URL":"https:\/\/doi.org\/10.1364\/ao.517023","relation":{},"ISSN":["1559-128X","2155-3165"],"issn-type":[{"value":"1559-128X","type":"print"},{"value":"2155-3165","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,3,4]]},"assertion":[{"value":"Optica Publishing Group","name":"publisher","label":"This article is maintained by"},{"value":"https:\/\/doi.org\/10.1364\/AO.517023","name":"articlelink","label":"Crossref DOI link to publisher maintained version"},{"value":"research-article","name":"content_type","label":"Article type"},{"value":"Screened by Similarity Check","name":"cross_check","label":"Similarity check"},{"value":"Yes","order":0,"name":"peer_reviewed","label":"Peer reviewed","group":{"name":"peer_review","label":"Peer review"}},{"value":"Single blind","order":1,"name":"review_process","label":"Review process","group":{"name":"peer_review","label":"Peer review"}},{"value":"26 December 2023","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"7 February 2024","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"4 March 2024","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}},{"value":"\u00a9 2024 Optica Publishing Group","name":"copyright","label":"Copyright"}]}}