AKM Dataset: Textureless Space Target Dataset
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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. The groundtruth.csv contains the pose labels. filename - filename of the image. Tx, Ty, Tz - represents the location of the target in the Camera coordinate frame Qx, Qy, Qz, Qw - quaternion representation of target orientation in camera coordinate frame K.txt - contains the Camera intrinsic matrix. @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} }
本数据集的标注目标为远地点推进发动机（Apogee Kick Motor, AKM），其性能参数与STAR 24发动机近似，属于径向对称且无纹理的航天目标。该发动机的尺寸参数为：直径24.5英寸（0.62米），长度42.0英寸（1.0668米）。本数据集包含10000张由Blender渲染生成的图像，渲染时采用模拟轨道环境的光照条件，图像分辨率为1024×1024像素，使用针孔相机模型进行渲染，相机视场角为55度。目标的空间位置服从1米至10米区间内的均匀随机分布，目标朝向服从均匀随机分布。groundtruth.csv 文件包含位姿标注信息，各字段说明如下： - filename：对应图像的文件名； - Tx、Ty、Tz：代表目标在相机坐标系下的三维位置； - Qx、Qy、Qz、Qw：代表目标在相机坐标系下朝向的四元数表示。 K.txt 文件包含相机内参矩阵。 引用文献： @inproceedings{rathinam2022pose, title={基于卷积神经网络的已知无纹理航天目标位姿估计}, author={Rathinam, Arunkumar and Gaudilliere, Vincent and Pauly, Leo and Aouada, Djamila}, booktitle={第73届国际宇航大会，法国巴黎，2022年9月18日至22日}, year={2022} }
