Point cloud sequence of tumbling non-cooperative space targets

A point cloud sequence for a tumbling non-cooperative target, namely Syn6DOF, is provided for simulating point cloud registration and motion estimation in on-orbit servicing.
Syn6DoF is a synthetic point-cloud sequence of the Hubble Space Telescope with pose annotations. There is 3-DoF tumbling motion and 3-DoF translational motion. Relative translational motion is simulated using the Clohessy–Wiltshire (CW) equations. Please unzip the archive ‘Syn6DoF’ to extract all point-cloud files and one pose file. The poses for all point clouds are recorded in ‘data_t_rpy_xyz_hubble_no_rotation.txt’. In each line, the 1st value is the point-cloud index; columns 2–4 are the target’s x–y–z Euler-angle components relative to the LiDAR; columns 5–7 are the translation coordinates.