TALON: Token-Aligned Lightweight Adapters for 6-DoF Spacecraft Pose Estimation
Monocular 6-DoF spacecraft pose estimation methods predominantly process individual frames, discarding the temporal information present in an image sequence acquired during spacecraft manoeuvres. Few temporal approaches require full backbone fine-tuning or auxiliary optical flow networks, risking catastrophic forgetting or increasing computational cost, respectively. We propose TALON (Token-Aligned Lightweight adapters for Orbital Navigation): spatiotemporal 3D adapters injected before the self-attention layers of a frozen ViT vision transformer, combined with a patch-token alignment loss that geometrically grounds the adapted features to keypoint structure through a prototype-conditioned...
| Authors | Abid Ali, Arunkumar Rathinam, Djamila Aouada |
|---|---|
| Primary category | cs.CV |
| Published | 29 May 2026 |
| Last updated at source | 29 May 2026 |
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