mlsanityData to 7 Oct 2026

Wide-Depth-Range 6D Object Pose Estimation in Space

arXiv 2104.00337 ↗First posted 1 Apr 2021cs.CV cs.GR cs.ROcited by 45

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Abstract (arXiv)

6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great distance while complicating illumination conditions. Currently available benchmark datasets do not place a sufficient emphasis on this aspect and mostly depict the target in close proximity. Prior work tackling pose estimation under large scale variations relies on a two-stage approach to first estimate scale, followed by pose estimation on a resized image patch. We instead propose a single-stage hierarchical end-to-end trainable network that is more robust to scale variations. We demonstrate that it outperforms existing approaches not only on images synthesized to resemble images taken in space but also on standard benchmarks.

Key facts. Cited by 45 papers in the map (data through 7 Oct 2026). Builds on 24 of its 45 references that are in the map. First posted on arXiv 1 Apr 2021.

Builds on

24 of 45 references.

References · 24

  1. 2016Feature Pyramid Networks for Object Detectioncited by 5,021
  2. 2015Fast R-CNNcited by 2,930
  3. 2018YOLOv3: An Incremental Improvementcited by 2,652
  4. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  5. 2015Spatial Transformer Networkscited by 1,423
  6. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  7. 2019Bridging the Gap Between Anchor-based and Anchor-free Detection via Adaptive Training Sample Selectioncited by 539
  8. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  9. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  10. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  11. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  12. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
12 more
  1. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  2. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  3. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
  4. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  5. 20176-DoF Object Pose from Semantic Keypointscited by 89
  6. 2019Single-Stage 6D Object Pose Estimationcited by 88
  7. 2018Making Deep Heatmaps Robust to Partial Occlusions for 3D Object Pose Estimationcited by 74
  8. 2019Satellite Pose Estimation Challenge: Dataset, Competition Design and Resultscited by 62
  9. 2014Viewpoints and Keypointscited by 59
  10. 2019Satellite Pose Estimation with Deep Landmark Regression and Nonlinear Pose Refinementcited by 56
  11. 2015Learning Analysis-by-Synthesis for 6D Pose Estimation in RGB-D Imagescited by 29
  12. 2018Coarse-to-fine Semantic Segmentation from Image-level Labelscited by 28

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 7; 2023: 12; 2024: 12; 2025: 8; 2026: 6.

45 papers.

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  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  2. 2022Perspective Flow Aggregation for Data-Limited 6D Object Pose Estimationcited by 32
  3. 2024GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objectscited by 32
  4. 2023A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospectscited by 30
  5. 2022Towards Bridging the Space Domain Gap for Satellite Pose Estimation using Event Sensingcited by 21
  6. 2022Bridging the Domain Gap in Satellite Pose Estimation: a Self-Training Approach based on Geometrical Constraintscited by 21
  7. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  8. 2023Shape-Constraint Recurrent Flow for 6D Object Pose Estimationcited by 17
  9. 2023CheckerPose: Progressive Dense Keypoint Localization for Object Pose Estimation with Graph Neural Networkcited by 15
  10. 2022CA-SpaceNet: Counterfactual Analysis for 6D Pose Estimation in Spacecited by 13
  11. 2023Rigidity-Aware Detection for 6D Object Pose Estimationcited by 13
  12. 2022Spacecraft Pose Estimation Based on Unsupervised Domain Adaptation and on a 3D-Guided Loss Combinationcited by 12
33 more
  1. 2024MRC-Net: 6-DoF Pose Estimation with MultiScale Residual Correlationcited by 11
  2. 20236D Object Pose Estimation from Approximate 3D Models for Orbital Roboticscited by 10
  3. 2022Knowledge Distillation for 6D Pose Estimation by Aligning Distributions of Local Predictionscited by 9
  4. 2023Pseudo Flow Consistency for Self-Supervised 6D Object Pose Estimationcited by 9
  5. 2023Revisiting Fully Convolutional Geometric Features for Object 6D Pose Estimationcited by 7
  6. 2024Bridging the Domain Gap for Flight-Ready Spaceborne Visioncited by 6
  7. 2023Recent Advancements in Deep Learning Applications and Methods for Autonomous Navigation: A Comprehensive Reviewcited by 5
  8. 2025Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimationcited by 5
  9. 2022Deep Learning for Real Time Satellite Pose Estimation on Low Power Edge TPUcited by 4
  10. 2025FastPose-ViT: A Vision Transformer for Real-Time Spacecraft Pose Estimationcited by 4
  11. 2024Free-Moving Object Reconstruction and Pose Estimation with Virtual Cameracited by 3
  12. 2024Domain Generalization for In-Orbit 6D Pose Estimationcited by 3
  13. 2024How Important are Data Augmentations to Close the Domain Gap for Object Detection in Orbit?cited by 3
  14. 2023SU-Net: Pose estimation network for non-cooperative spacecraft on-orbitcited by 2
  15. 2024Shape-biased Texture Agnostic Representations for Improved Textureless and Metallic Object Detection and 6D Pose Estimationcited by 2
  16. 2024Real-Time Spacecraft Pose Estimation Using Mixed-Precision Quantized Neural Network on COTS Reconfigurable MPSoCcited by 2
  17. 2025Deep Space Weather Model: Long-Range Solar Flare Prediction from Multi-Wavelength Imagescited by 2
  18. 2025Motion Aware ViT-based Framework for Monocular 6-DoF Spacecraft Pose Estimationcited by 2
  19. 2025Improved 3D Gaussian Splatting of Unknown Spacecraft Structure Using Space Environment Illumination Knowledgecited by 2
  20. 2023A ground-based dataset and a diffusion model for on-orbit low-light image enhancementcited by 1
  21. 2024VAPO: Visibility-Aware Keypoint Localization for Efficient 6DoF Object Pose Estimationcited by 1
  22. 2024Test-Time Adaptation for Keypoint-Based Spacecraft Pose Estimation Based on Predicted-View Synthesiscited by 1
  23. 2025SCFlow2: Plug-and-Play Object Pose Refiner with Shape-Constraint Scene Flowcited by 1
  24. 2026MultiCam: On-the-fly Multi-Camera Pose Estimation Using Spatiotemporal Overlaps of Known Objectscited by 1
  25. 2023Modular Quantization-Aware Training for 6D Object Pose Estimationcited by 0
  26. 2024Accelerating AI and Computer Vision for Satellite Pose Estimation on the Intel Myriad X Embedded SoCcited by 0
  27. 2025Enabling Robust, Real-Time Verification of Vision-Based Navigation through View Synthesiscited by 0
  28. 2025Bridging the Synthetic-Real Gap: Supervised Domain Adaptation for Robust Spacecraft 6-DoF Pose Estimationcited by 0
  29. 2026Keypoint-based Dynamic Object 6-DoF Pose Tracking via Event Cameracited by 0
  30. 2026Cross-Modal RGB-D Fusion Transformer for 6D Pose Estimation of Non-Cooperative Spacecraft with Stereo-Derived Depthcited by 0
  31. 2026TALON: Token-Aligned Lightweight Adapters for 6-DoF Spacecraft Pose Estimationcited by 0
  32. 2026Multi-Camera AR Guidance System for Surgical Instrument Handling and Assembly: Investigating Workload and Efficiencycited by 0
  33. 2026HAT: Hypothesis-Anchored Tracking for Video Monocular Spacecraft Pose Estimationcited by 0