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.本数据集提供了一款面向翻滚非合作目标的点云序列，即Syn6DOF，用于在轨服务中的点云配准与运动估计仿真。Syn6DOF为哈勃空间望远镜（Hubble Space Telescope）的合成点云序列，附带位姿标注信息。该序列包含3自由度（3-DoF）翻滚运动与3自由度平移运动，其中相对平移运动采用克洛西-威尔特希尔方程（Clohessy–Wiltshire，CW）进行仿真。请解压压缩包"Syn6DOF"以提取全部点云文件与一份位姿文件。所有点云对应的位姿均记录于"data_t_rpy_xyz_hubble_no_rotation.txt"文件中。该文件每行的第1个数值为点云索引；第2至4列为目标相对于激光雷达（LiDAR）的x-y-z欧拉角分量；第5至7列为平移坐标。