AKM Dataset: Textureless Space Target Dataset

The target in this dataset is the Apogee Kick Motor (AKM) (similar to the STAR 24 motor), a radially symmetric and textureless space object. The motor dimensions are a diameter of 24.5 inches (0.62 m) and a length of 42.0 inches (1.0668 m). The dataset contains 10000 images generated with a blender under lighting conditions similar to the orbital environment with an image size of 1024 x 1024 pixels rendered using a pin-hole camera model having a field of view of 55 degrees. The target positions are obtained from a uniform random distribution between 1m and 10 m, and orientations are obtained from a uniform random distribution.<br> <br> The <strong><em>groundtruth.csv</em></strong> contains the pose labels.<br> <em>filename</em> - filename of the image.<br> <em>Tx, Ty, Tz</em> - represents the location of the target in the Camera coordinate frame<br> <em>Qx, Qy, Qz, Qw</em> - quaternion representation of target orientation in camera coordinate frame<br> <em><strong>K.txt</strong></em> - contains the Camera intrinsic matrix. <pre><code>@inproceedings{rathinam2022pose, title={Pose Estimation of a Known Texture-Less Space Target using Convolutional Neural Networks}, author={Rathinam, Arunkumar and Gaudilliere, Vincent and Pauly, Leo and Aouada, Djamila}, booktitle={73rd International Astronautical Congress, Paris 18-22 September 2022}, year={2022} }</code></pre>