Robust Multi-Part Spacecraft Target Detection for Space Manipulator Perception under Space Visual Disturbances

Robust Multi-Part Spacecraft Target Detection for Space Manipulator Perception under Space Visual Disturbances | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Robust Multi-Part Spacecraft Target Detection for Space Manipulator Perception under Space Visual Disturbances Hongji Zhuang, Qiang Shen, Shufan Wu, Vladimir Razoumny, Yury Razoumny This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9477713/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Robust visual perception is essential for autonomous space manipulator operations in complex orbital environments. However, spacecraft detection in space imagery is often degraded by extreme illumination variation, local occlusion, motion-induced blur, sparse sensor corruption, and background-domain changes. Moreover, conventional target-level detection usually provides only a single coarse bounding box, which is insufficient for control-oriented perception. To address these issues, this paper proposes a robust multi-part spacecraft target detection framework for space manipulator perception under complex space visual disturbances. The target spacecraft is modeled as a structured object composed of the whole body and structured target parts, enabling the extraction of both whole-body and part-level geometric cues. A space-oriented robust data generation and augmentation pipeline is developed to emulate representative disturbances while preserving label consistency through rendering-based annotation. In addition, a structure-aware robust output refinement strategy is introduced to exploit part-whole consistency and geometric priors, thereby improving target completeness, localization stability, and control-oriented state quality. Simulation results show that the proposed framework improves localization accuracy, structural consistency, and robustness under disturbance-enhanced visual conditions, providing an effective perception basis for future heterogeneous multi-space-manipulator cooperation. space manipulator perception spacecraft target detection robust multi-part detection space visual disturbances structure-aware refinement on-orbit servicing Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-9477713","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":629092793,"identity":"c077063b-4ab5-41cf-8a4d-66c89f10f1ec","order_by":0,"name":"Hongji Zhuang","email":"","orcid":"","institution":"Shanghai Jiao Tong University","correspondingAuthor":false,"prefix":"","firstName":"Hongji","middleName":"","lastName":"Zhuang","suffix":""},{"id":629092794,"identity":"39e71262-7956-4b37-858c-8684a8538671","order_by":1,"name":"Qiang Shen","email":"","orcid":"","institution":"Shanghai Jiao Tong University","correspondingAuthor":false,"prefix":"","firstName":"Qiang","middleName":"","lastName":"Shen","suffix":""},{"id":629092795,"identity":"b045f8e5-1b73-4c14-9bd7-099cb3e09083","order_by":2,"name":"Shufan Wu","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA6UlEQVRIiWNgGAWjYDACCQaGD2AGewODAZhxgLAWxhlgBs8BBoMDpGmRSICqJqRFfnaPYcPPHQyJG24+f1D8sY1Bju9GAuPnAjxaDO6cMWzsPQPUcjvHwOBgG4Ox5I0EZukZ+LRI5Jg/4G1jyAVqYQBpSdxwI4GNmQefw2bkGDb+BWm5efwBSEs9QS0MN3IMm8G23GAAOyzBgJAWgxtphc2ybRL1M88A/XLmnIThzDMPm6XxOyx5Y+PbNhtjvuPHnxlUlNnI8x1PPvgZr8MgQAJEsBlAGIwNhDVAAfMDopWOglEwCkbBiAIAqGFRi5AVcNoAAAAASUVORK5CYII=","orcid":"","institution":"Shanghai Jiao Tong University","correspondingAuthor":true,"prefix":"","firstName":"Shufan","middleName":"","lastName":"Wu","suffix":""},{"id":629092799,"identity":"f84d3b1c-c45c-4d95-94e1-26092c185b68","order_by":3,"name":"Vladimir Razoumny","email":"","orcid":"","institution":"Peoples' Friendship University of Russia","correspondingAuthor":false,"prefix":"","firstName":"Vladimir","middleName":"","lastName":"Razoumny","suffix":""},{"id":629092802,"identity":"2483fc4c-6b81-4e7a-b8f0-158881ea360b","order_by":4,"name":"Yury Razoumny","email":"","orcid":"","institution":"Peoples' Friendship University of Russia","correspondingAuthor":false,"prefix":"","firstName":"Yury","middleName":"","lastName":"Razoumny","suffix":""}],"badges":[],"createdAt":"2026-04-21 02:39:14","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-9477713/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-9477713/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":108007247,"identity":"ee6811b9-110c-468d-8195-e057ba0bb5f8","added_by":"auto","created_at":"2026-04-28 12:59:09","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":739541,"visible":true,"origin":"","legend":"","description":"","filename":"AS31.pdf","url":"https://assets-eu.researchsquare.com/files/rs-9477713/v1_covered_fa695d83-96b7-4160-bba3-f4ff242727e0.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Robust Multi-Part Spacecraft Target Detection for Space Manipulator Perception under Space Visual Disturbances","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"space manipulator perception, spacecraft target detection, robust multi-part detection, space visual disturbances, structure-aware refinement, on-orbit servicing","lastPublishedDoi":"10.21203/rs.3.rs-9477713/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-9477713/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"Robust visual perception is essential for autonomous space manipulator operations in complex orbital environments. However, spacecraft detection in space imagery is often degraded by extreme illumination variation, local occlusion, motion-induced blur, sparse sensor corruption, and background-domain changes. Moreover, conventional target-level detection usually provides only a single coarse bounding box, which is insufficient for control-oriented perception. To address these issues, this paper proposes a robust multi-part spacecraft target detection framework for space manipulator perception under complex space visual disturbances. The target spacecraft is modeled as a structured object composed of the whole body and structured target parts, enabling the extraction of both whole-body and part-level geometric cues. A space-oriented robust data generation and augmentation pipeline is developed to emulate representative disturbances while preserving label consistency through rendering-based annotation. 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