COFFEE: A Shadow-Resilient Real-Time Pose Estimator for Unknown Tumbling Asteroids using Sparse Neural Networks

TL;DR

COFFEE is a real-time, shadow-robust pose estimation framework for tumbling asteroids that uses sparse neural networks and prior sun angle information to achieve bias-free, accurate, and fast results suitable for space missions.

Contribution

The paper introduces COFFEE, a novel pose estimation method that is resilient to shadows, computationally efficient, and leverages prior sun angle data, outperforming existing classical and deep learning approaches.

Findings

Bias-free pose estimates achieved.

More accurate than classical methods.

An order of magnitude faster than other deep learning pipelines.

Abstract

The accurate state estimation of unknown bodies in space is a critical challenge with applications ranging from the tracking of space debris to the shape estimation of small bodies. A necessary enabler to this capability is to find and track features on a continuous stream of images. Existing methods, such as SIFT, ORB and AKAZE, achieve real-time but inaccurate pose estimates, whereas modern deep learning methods yield higher quality features at the cost of more demanding computational resources which might not be available on space-qualified hardware. Additionally, both classical and data-driven methods are not robust to the highly opaque self-cast shadows on the object of interest. We show that, as the target body rotates, these shadows may lead to large biases in the resulting pose estimates. For these objects, a bias in the real-time pose estimation algorithm may mislead the spacecraft's state estimator and cause a mission failure, especially if the body undergoes a chaotic tumbling motion. We present COFFEE, the Celestial Occlusion Fast FEature Extractor, a real-time pose estimation framework for asteroids designed to leverage prior information on the sun phase angle given by sun-tracking sensors commonly available onboard spacecraft. By associating salient contours to their projected shadows, a sparse set of features are detected, invariant to the motion of the shadows. A Sparse Neural Network followed by an attention-based Graph Neural Network feature matching model are then jointly trained to provide a set of correspondences between successive frames. The resulting pose estimation pipeline is found to be bias-free, more accurate than classical pose estimation pipelines and an order of magnitude faster than other state-of-the-art deep learning pipelines on synthetic data as well as on renderings of the tumbling asteroid Apophis.