An important aspect of space exploration and situational awareness involves the characterization of the surface geometry of space objects. This paper puts forward a precise three-dimensional (3D) reconstruction method for uncooperative spacecraft based on a low-resolution time-of-flight (ToF) depth camera coupled with a high-resolution optical texture camera. In the proposed approach, a texture-guided depth upsampling algorithm is adopted to reconstruct high-resolution 3D shapes with high-precision geometry and detailed textures, in which the low-resolution depth map upsampling is guided by the high-resolution texture image. Then, in order to build a globally consistent 3D surface model, a scale estimator-based iterative closest point algorithm is put forward to align the 3D shapes of the uncooperative spacecraft from different views. The experimental results demonstrate both quantitatively and qualitatively that our approach achieves a significant improvement in reconstruction results compared to ToF-based solutions.

空间探索和态势感知的一个重要方面涉及空间物体表面几何特征的表征。本文提出了一种基于低分辨率飞行时间（ToF）深度相机和高分辨率光学纹理相机的非合作航天器精确三维（3D）重建方法。在所提出的方法中，采用纹理引导的深度上采样算法来重建具有高精度几何和详细纹理的高分辨率 3D 形状，其中低分辨率深度图上采样由高分辨率纹理图像引导。然后，为了建立全局一致的3D表面模型，提出了一种基于尺度估计器的迭代最近点算法，从不同角度对齐不合作航天器的3D形状。