{"id":"https://openalex.org/W4413918813","doi":"https://doi.org/10.1109/icra55743.2025.11127498","title":"A Visual Servo System for Robotic on-Orbit Servicing Based on 3D Perception of Non-Cooperative Satellite","display_name":"A Visual Servo System for Robotic on-Orbit Servicing Based on 3D Perception of Non-Cooperative Satellite","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918813","doi":"https://doi.org/10.1109/icra55743.2025.11127498"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101399317","display_name":"Panpan Zhao","orcid":"https://orcid.org/0009-0001-5943-7384"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Panpan Zhao","raw_affiliation_strings":["School of Software, Shandong University,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Shandong University,P.R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100781249","display_name":"Jin Li","orcid":"https://orcid.org/0000-0002-0260-3169"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Jin","raw_affiliation_strings":["School of Software, Shandong University,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Shandong University,P.R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067200599","display_name":"Yeheng Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yeheng Chen","raw_affiliation_strings":["Zhejiang Lab,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,P.R. China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357080","display_name":"Jiachen Li","orcid":"https://orcid.org/0009-0005-2965-8468"},"institutions":[{"id":"https://openalex.org/I4210156066","display_name":"State Key Laboratory of Chemical Engineering","ror":"https://ror.org/05803vc71","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156066"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiachen Li","raw_affiliation_strings":["Zhejiang University,State Key Lab of CAD and CG,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Lab of CAD and CG,P.R. China","institution_ids":["https://openalex.org/I4210156066","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025892277","display_name":"Xiuqiang Song","orcid":"https://orcid.org/0009-0002-4356-807X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuqiang Song","raw_affiliation_strings":["School of Software, Shandong University,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Shandong University,P.R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101804307","display_name":"Wenxuan Chen","orcid":"https://orcid.org/0009-0008-2491-353X"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxuan Chen","raw_affiliation_strings":["Zhejiang Lab,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,P.R. China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100341119","display_name":"Nan Li","orcid":"https://orcid.org/0000-0003-3585-2273"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Li","raw_affiliation_strings":["Zhejiang Lab,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,P.R. China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108064743","display_name":"Wenjuan Du","orcid":"https://orcid.org/0000-0002-2482-6742"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjuan Du","raw_affiliation_strings":["Zhejiang Lab,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,P.R. China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042700684","display_name":"Ke Ma","orcid":"https://orcid.org/0000-0002-7086-3333"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Ma","raw_affiliation_strings":["Zhejiang Lab,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,P.R. China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067352286","display_name":"Xiaokun Wang","orcid":"https://orcid.org/0000-0002-4449-591X"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaokun Wang","raw_affiliation_strings":["Zhejiang Lab,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,P.R. China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721621","display_name":"Yuehua Li","orcid":"https://orcid.org/0000-0001-8028-248X"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuehua Li","raw_affiliation_strings":["Zhejiang Lab,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,P.R. China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101536417","display_name":"Xiangxu Meng","orcid":"https://orcid.org/0000-0001-7290-5659"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangxu Meng","raw_affiliation_strings":["School of Software, Shandong University,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Shandong University,P.R. China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008274291","display_name":"Xueying Qin","orcid":"https://orcid.org/0000-0003-0057-295X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueying Qin","raw_affiliation_strings":["School of Software, Shandong University,P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Shandong University,P.R. China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9599999785423279,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9570000171661377,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.6420415639877319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6373876929283142},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5138278603553772},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.49469849467277527},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4530772864818573},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.4466368556022644},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4450424015522003},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.4141658544540405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3856295049190521},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32008323073387146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20366406440734863},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1992807686328888},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.17453911900520325},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07674247026443481}],"concepts":[{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.6420415639877319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373876929283142},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5138278603553772},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.49469849467277527},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4530772864818573},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.4466368556022644},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4450424015522003},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.4141658544540405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3856295049190521},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32008323073387146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20366406440734863},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1992807686328888},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.17453911900520325},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07674247026443481},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1989647022","https://openalex.org/W2009422376","https://openalex.org/W2013858880","https://openalex.org/W2064157355","https://openalex.org/W2071355416","https://openalex.org/W2090401423","https://openalex.org/W2099940712","https://openalex.org/W2405050918","https://openalex.org/W2412807743","https://openalex.org/W2509493982","https://openalex.org/W2523113160","https://openalex.org/W2592539501","https://openalex.org/W2883461065","https://openalex.org/W2891869306","https://openalex.org/W2951360122","https://openalex.org/W2972095405","https://openalex.org/W2979076227","https://openalex.org/W2993582038","https://openalex.org/W3011882661","https://openalex.org/W3089381104","https://openalex.org/W3150727696","https://openalex.org/W3164607198","https://openalex.org/W3183127766","https://openalex.org/W3210687399","https://openalex.org/W4210322887","https://openalex.org/W4312456564","https://openalex.org/W4313531660","https://openalex.org/W4383097421","https://openalex.org/W4402916181"],"related_works":["https://openalex.org/W2080331776","https://openalex.org/W2045478930","https://openalex.org/W161603712","https://openalex.org/W2320805319","https://openalex.org/W1984747759","https://openalex.org/W4252349560","https://openalex.org/W1490629594","https://openalex.org/W2744582151","https://openalex.org/W2542030311","https://openalex.org/W1994942357"],"abstract_inverted_index":{"The":[0],"3D":[1,69,82],"perception":[2,99],"of":[3,55,68,87,176],"satellites,":[4],"including":[5],"both":[6],"their":[7],"shape":[8,50,98],"and":[9,26,51,94,100,117,121,145,158],"pose,":[10],"is":[11],"a":[12,81,123,136,140],"key":[13],"foundation":[14],"for":[15,77,154,168],"robotic":[16],"on-orbit":[17,155],"servicing.":[18,156],"However,":[19],"the":[20,47,53,66,78,119,162],"demanding":[21],"space":[22],"environment-such":[23],"as":[24],"intense":[25],"dim":[27],"illumination-presents":[28],"significant":[29],"challenges.":[30],"Previous":[31],"non-cooperative":[32,88],"methods":[33],"focus":[34],"on":[35],"specific":[36],"geometric":[37],"features":[38],"like":[39],"solar":[40],"panel":[41],"brackets":[42],"or":[43],"docking":[44],"rings,":[45],"overlooking":[46],"satellite's":[48],"overall":[49],"increasing":[52],"risk":[54],"collisions":[56],"during":[57],"grasping.":[58],"Additionally,":[59],"satellites":[60],"are":[61,165],"often":[62],"weakly":[63],"textured,":[64],"limiting":[65],"accuracy":[67,103],"perception.":[70],"To":[71],"address":[72],"these":[73],"issues,":[74],"we":[75,108,134],"propose,":[76],"first":[79],"time,":[80],"perceptionbased":[83],"visual":[84],"servo":[85],"system":[86,91,152,178],"satellites.":[89],"This":[90],"combines":[92],"reconstruction":[93],"tracking":[95],"to":[96,114,126,150],"enhance":[97,151],"pose":[101],"estimation":[102],"in":[104],"orbital":[105],"conditions.":[106,132],"Specifically,":[107],"employ":[109],"an":[110,146],"alternating":[111],"iterative":[112],"strategy":[113],"simultaneously":[115],"reconstruct":[116],"track":[118],"satellite":[120],"introduce":[122],"novel":[124],"constraint":[125],"fuse":[127],"different":[128],"cues":[129],"under":[130],"extreme":[131],"Further,":[133],"develop":[135],"simulation":[137,163],"environment":[138,164],"platform,":[139],"dualarm":[141],"microgravity":[142],"grasping":[143],"system,":[144],"online":[147],"monitoring":[148],"module":[149,175],"capabilities":[153],"Synthetic":[157],"real-world":[159],"datasets":[160],"from":[161],"also":[166],"created":[167],"experimental":[169],"validation.":[170],"Results":[171],"show":[172],"that":[173],"each":[174],"our":[177],"achieves":[179],"state-of-the-art":[180],"performance.":[181]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}