HAT: Hypothesis-Anchored Tracking for Video Monocular Spacecraft Pose Estimation
Monocular 6-DoF pose estimation of non-cooperative targets is important for on-orbit servicing and debris removal. A single-image estimator can confuse near-symmetric spacecraft orientations, and tracking can preserve an incorrect pose. We present Hypothesis-Anchored Tracking (HAT), a causal framework that uses inter-frame motion to select among competing CAD-based pose hypotheses before alignment and fusion. Rather than independently choosing the highest-scoring hypothesis in each image, HAT retains competing orientation histories and selects a pose to anchor the relative trajectory estimated by monocular SLAM. Sparse anchors and pose fusion provide per-frame estimates after initializati...
| Authors | André Lopo, Atabak Dehban, Rodrigo Ventura |
|---|---|
| Primary category | cs.CV |
| Published | 18 September 2026 |
| Last updated at source | 18 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.