mlsanityData to 7 Oct 2026

Mobile-URSONet: an Embeddable Neural Network for Onboard Spacecraft Pose Estimation

arXiv 2205.02065 ↗First posted 4 May 2022cs.CVcited by 5

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Abstract (arXiv)

Spacecraft pose estimation is an essential computer vision application that can improve the autonomy of in-orbit operations. An ESA/Stanford competition brought out solutions that seem hardly compatible with the constraints imposed on spacecraft onboard computers. URSONet is among the best in the competition for its generalization capabilities but at the cost of a tremendous number of parameters and high computational complexity. In this paper, we propose Mobile-URSONet: a spacecraft pose estimation convolutional neural network with 178 times fewer parameters while degrading accuracy by no more than four times compared to URSONet.

Key facts. Cited by 5 papers in the map (data through 7 Oct 2026). Builds on 10 of its 20 references that are in the map. First posted on arXiv 4 May 2022.

Builds on

10 of 20 references.

References · 10

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2018MobileNetV2: Inverted Residuals and Linear Bottleneckscited by 4,773
  3. 2017MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applicationscited by 3,827
  4. 2018Benchmark Analysis of Representative Deep Neural Network Architecturescited by 77
  5. 2019Satellite Pose Estimation Challenge: Dataset, Competition Design and Resultscited by 62
  6. 2019Satellite Pose Estimation with Deep Landmark Regression and Nonlinear Pose Refinementcited by 56
  7. 2019Deep Learning for Spacecraft Pose Estimation from Photorealistic Renderingcited by 54
  8. 2018Pose Estimation for Non-Cooperative Spacecraft Rendezvous Using Convolutional Neural Networkscited by 34
  9. 2019Pose Estimation for Non-Cooperative Rendezvous Using Neural Networkscited by 21
  10. 2021Real-Time, Flight-Ready, Non-Cooperative Spacecraft Pose Estimation Using Monocular Imagerycited by 15

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Cited by year

Citing papers per year: 2023: 1; 2024: 2; 2025: 2.

5 papers.

  1. 2023A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospectscited by 30
  2. 2024Domain Generalization for In-Orbit 6D Pose Estimationcited by 3
  3. 2024Real-Time Spacecraft Pose Estimation Using Mixed-Precision Quantized Neural Network on COTS Reconfigurable MPSoCcited by 2
  4. 2025NeRF-based Visualization of 3D Cues Supporting Data-Driven Spacecraft Pose Estimationcited by 2
  5. 2025GKNet: Graph-based Keypoints Network for Monocular Pose Estimation of Non-cooperative Spacecraftcited by 0