Design of a Spacecraft Pose Estimation System Using Convolutional Neural Networks

Abstract

Performing crucial activities for space exploration, e.g., debris removal and on-orbit servicing, systems for Rendezvous and Proximity Operations (RPO) are required to be autonomous and scalable. Within this context, learning-based relative navigation has gained significant traction due to the latest advancements in AI and the cost-effectiveness of monocular cameras.

This thesis introduces a pose estimation system composed of an Object Detection (OD) and a Keypoint Detection (KD) network for keypoint extraction, coupled with a pose solver, and trained purely on synthetic images. When applying realistic data augmentations, the system achieves a reduction in KD error by 80%, further improved by training on photorealistic images. After an architecture optimization step, the final system consistently meets the inference time requirements on the Myriad X edge processor. This proves the feasibility of developing RPO systems with artificial data, showcasing a scalable approach, while complying with the limitations of onboard hardware.