RGB-D based multi-modal deep learning for spacecraft and debris recognition

Abstract

Abstract Recognition of space objects including spacecraft and debris is one of the main components in the space situational awareness (SSA) system. Various tasks such as satellite formation, on-orbit servicing, and active debris removal require object recognition to be done perfectly. The recognition task in actual space imagery is highly complex because the sensing conditions are largely diverse. The conditions include various backgrounds affected by noise, several orbital scenarios, high contrast, low signal-to-noise ratio, and various object sizes. To address the problem of space recognition, this paper proposes a multi-modal learning solution using various deep learning models. To extract features from RGB images that have spacecraft and debris, various convolutional neural network (CNN) based models such as ResNet, EfficientNet, and DenseNet were explored. Furthermore, RGB based vision transformer was demonstrated. Additionally, End-to-End CNN was used for classification of depth images. The final decision of the proposed solution combines the two decisions from RGB based and Depth-based models. The experiments were carried out using a novel dataset called SPARK which was generated under a realistic space simulation environment. The dataset includes various images with eleven categories, and it is divided into 150 k of RGB images and 150 k of depth images. The proposed combination of RGB based vision transformer and Depth-based End-to-End CNN showed higher performance and better results in terms of accuracy (85%), precision (86%), recall (85%), and F1 score (84%). Therefore, the proposed multi-modal deep learning is a good feasible solution to be utilized in real tasks of SSA system.