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在轨服务场景、用于点云配准与运动估计仿真的翻滚式非合作目标点云序列，命名为Syn6DOF。
Syn6DOF为哈勃空间望远镜的合成点云序列，附带姿态标注。该序列包含3自由度翻滚运动与3自由度平动运动，其相对平动运动通过克洛西-威尔希尔（Clohessy–Wiltshire，CW）方程进行仿真。
请解压归档文件"Syn6DOF"以提取全部点云文件与一个姿态文件。所有点云的姿态信息均存储于文件"data_t_rpy_xyz_hubble_no_rotation.txt"中，每行的首个数值为点云索引；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。