Recurrent convolutional neural networks for LiDAR-based attitude initialization of rotating spacecraft

Accurate attitude estimation is essential for autonomous in-orbit servicing and proximity operations. This work proposes a Recurrent Convolutional Neural Network (RCNN) used in coarse attitude initialization of known, possibly tumbling spacecraft using LiDAR-derived depth images. By processing temporal sequences of 2D point-cloud projections, the RCNN effectively handles symmetries, occlusions, and degraded sensing. Simulations across various spacecraft geometries, angular velocities, and ranges show that the RCNN yields lower initialization errors and higher convergence rates than conventional CNN baseline within the adopted experimental framework, with performance varying across angular velocity conditions.