AI RESEARCH
Cross-Modal RGB-D Fusion Transformer for 6D Pose Estimation of Non-Cooperative Spacecraft with Stereo-Derived Depth
arXiv CS.CV
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ArXi:2605.08592v1 Announce Type: new On-orbit servicing and active debris removal involving non-cooperative spacecraft require reliable pose estimation to supply accurate position and orientation data for autonomous visual navigation. Learning-based monocular methods have seen widespread adoption in spacecraft pose estimation, yet they suffer from an intrinsic depth ambiguity problem and tend to fail under the harsh illumination conditions routinely encountered in orbit.