Cross-Modal RGB-D Fusion Transformer for 6D Pose Estimation of Non-Cooperative Spacecraft with Stereo-Derived Depth
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. Active depth sensors could in principle address the geometric ambiguity, but their power and mass requirements make them poorly suited to most spacecraft platforms. This work addresses these issues through a passive stereo vision framework for six-degree-of-...
| Authors | Yongliang Zhen, Bo LÜ, Hang Yang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 9 May 2026 |
| Last updated at source | 9 May 2026 |
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