Estimating the 3D pose of the space object from a single image is an important but challenging work. Most of the existing methods estimate the 3D pose of known space objects and assume that the detailed geometry of a specific object is known. These methods are not available for unknown objects without the known geometry of the object. In contrast to previous works, this paper devotes to estimate the 3D pose of the unknown space object from a single image. Our method estimates not only the pose but also the shape of the unknown object from a single image. In this paper, a hierarchical shape model is proposed to represent the prior structure information of typical space objects. On this basis, the parameters of the pose and shape are estimated simultaneously for unknown space objects. Experimental results demonstrate the effectiveness of our method to estimate the 3D pose and infer the geometry of unknown typical space objects from a single image. Moreover, experimental results show the advantage of our approach over the methods relying on the known geometry of the object.

中文翻译：

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单幅图像中不合作的未知空间物体的姿态估计

从单个图像估计空间对象的3D姿势是一项重要但具有挑战性的工作。大多数现有方法估计已知空间物体的3D姿态，并假定特定物体的详细几何形状是已知的。如果没有已知的对象几何形状，则这些方法不适用于未知对象。与以前的工作相反，本文致力于从单个图像估计未知空间对象的3D姿态。我们的方法不仅可以从单个图像中估计未知物体的姿势，而且可以估计其形状。本文提出了一种层次形状模型来表示典型空间物体的先验结构信息。在此基础上，同时为未知的空间物体估计姿势和形状的参数。实验结果证明了我们的方法可有效地估计3D姿态并从单个图像推断未知典型空间物体的几何形状。而且，实验结果表明我们的方法优于依赖于对象的已知几何形状的方法。