提出新模型提升航天器6D位姿估计在光照变化下的鲁棒性。
Precision-Aware Illumination-Disentangled Vision Transformer for Spacecraft 6D Pose Estimation
- 分离结构与光照特征，提升视觉线索可靠性
- 降低阳光照射场景下平移误差，提升稳定性
- 适合复杂光照下航天器近距离操作任务
视觉传感器为航天器近距操作提供轻量解决方案，但单目航天器6D位姿估计在光照变化、镜面反射、阴影、弱纹理和背景干扰下仍具挑战，导致局部视觉证据空间不可靠，易引发位姿回归不稳定。本文提出精度感知光照解耦视觉变压器（PAID-ViT），将与位姿相关的结构令牌与受光照影响的外观令牌分离，先评估图像块可靠性再进行位姿聚合，并通过前景掩码监督保留轮廓信息。一个无参数几何恢复模块将归一化裁剪坐标、对数深度和连续6D旋转表示转换为相机帧下的旋转和平移。在SPEED+ V2数据集上，采用sunlamp评估配置的实验表明，PAID-ViT在挑战性的阳光照射域中降低了平移误差，提升了鲁棒性；消融实验证明光照解耦、可靠性感知令牌聚合、掩码监督和训练侧正则化具有互补作用。
原文摘要 · Abstract (English)
Vision sensors provide a lightweight solution for spacecraft proximity operations, but monocular spacecraft 6D pose estimation remains difficult under illumination variation, specular reflection, shadowing, weak texture, and background interference. These factors make local visual evidence spatially unreliable and can destabilize pose regression. This article proposes a Precision-Aware Illumination-Disentangled Vision Transformer (PAID-ViT) for robust spacecraft pose estimation.The proposed model separates pose-relevant structure tokens from illumination-sensitive appearance tokens, estimates patch reliability before pose aggregation, and uses foreground mask supervision to preserve silhouette cues. A parameter-free geometric recovery module converts normalized crop coordinates, log-depth, and a continuous 6D rotation representation into camera-frame rotation and translation. Experiments on SPEED+ V2, the SPEED+ validation/lightbox/sunlamp evaluation configuration used in this study, suggest that PAID-ViT reduces translation error and improves robustness in the challenging sunlamp domain, while ablation studies support the complementary roles of illumination disentanglement, reliability-aware token aggregation, mask supervision, and training-side regularization.
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