CNN-based local features for navigation near an asteroid

arXiv:2309.11156v2 Announce Type: replace
Abstract: This article addresses the challenge of vision-based proximity navigation in asteroid exploration missions and on-orbit servicing. Traditional feature extraction methods struggle with the significant appearance variations of asteroids due to limited scattered light. To overcome this, we propose a lightweight feature extractor specifically tailored for asteroid proximity navigation, designed to be robust to illumination changes and affine transformations. We compare and evaluate state-of-the-art feature extraction networks and three lightweight network architectures in the asteroid context. …

abstract article arxiv asteroids challenge cnn cs.cv cs.ro exploration extraction feature feature extraction features light navigation near struggle type vision