mlsanityData to 14 Oct 2026

CA-SpaceNet: Counterfactual Analysis for 6D Pose Estimation in Space

arXiv 2207.07869 ↗First posted 16 Jul 2022cs.CVcited by 13

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Abstract (arXiv)

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper proposes a counterfactual analysis framework named CASpaceNet to complete robust 6D pose estimation of the spaceborne targets under complicated background. Specifically, conventional methods are adopted to extract the features of the whole image in the factual case. In the counterfactual case, a non-existent image without the target but only the background is imagined. Side effect caused by background interference is reduced by counterfactual analysis, which leads to unbiased prediction in final results. In addition, we also carry out lowbit-width quantization for CA-SpaceNet and deploy part of the framework to a Processing-In-Memory (PIM) accelerator on FPGA. Qualitative and quantitative results demonstrate the effectiveness and efficiency of our proposed method. To our best knowledge, this paper applies causal inference and network quantization to the 6D pose estimation of space-borne targets for the first time. The code is available at https://github.com/Shunli-Wang/CA-SpaceNet.

Key facts. Cited by 13 papers in the map (data through 14 Oct 2026). Builds on 20 of its 40 references that are in the map. First posted on arXiv 16 Jul 2022.

Builds on

20 of 40 references.

References · 20

  1. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  2. 2019Learned Step Size Quantizationcited by 628
  3. 2017Efficient Processing of Deep Neural Networks: A Tutorial and Surveycited by 434
  4. 2020Unbiased Scene Graph Generation from Biased Trainingcited by 356
  5. 2020Counterfactual VQA: A Cause-Effect Look at Language Biascited by 266
  6. 2020Long-Tailed Classification by Keeping the Good and Removing the Bad Momentum Causal Effectcited by 256
  7. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  8. 2017BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depthcited by 225
  9. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  10. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  11. 2020se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 90
  12. 2019Single-Stage 6D Object Pose Estimationcited by 88
8 more
  1. 2021Convolutional Neural Network Pruning with Structural Redundancy Reductioncited by 73
  2. 2019Satellite Pose Estimation Challenge: Dataset, Competition Design and Resultscited by 62
  3. 2021Learning Student-Friendly Teacher Networks for Knowledge Distillationcited by 60
  4. 2019Satellite Pose Estimation with Deep Landmark Regression and Nonlinear Pose Refinementcited by 56
  5. 2019Deep Learning for Spacecraft Pose Estimation from Photorealistic Renderingcited by 54
  6. 2021Wide-Depth-Range 6D Object Pose Estimation in Spacecited by 45
  7. 2021Learnable Companding Quantization for Accurate Low-bit Neural Networkscited by 42
  8. 2018Pose Estimation for Non-Cooperative Spacecraft Rendezvous Using Convolutional Neural Networkscited by 34

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Cited by year

Citing papers per year: 2023: 5; 2024: 7; 2025: 1.

13 papers.

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  1. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  2. 2023AIDE: A Vision-Driven Multi-View, Multi-Modal, Multi-Tasking Dataset for Assistive Driving Perceptioncited by 39
  3. 2023Context De-confounded Emotion Recognitioncited by 34
  4. 2023A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospectscited by 30
  5. 2024Robust Emotion Recognition in Context Debiasingcited by 24
  6. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  7. 2024Towards Context-Aware Emotion Recognition Debiasing from a Causal Demystification Perspective via De-confounded Trainingcited by 11
  8. 2024Asynchronous Multimodal Video Sequence Fusion via Learning Modality-Exclusive and -Agnostic Representationscited by 10
  9. 2024HandGCAT: Occlusion-Robust 3D Hand Mesh Reconstruction from Monocular Imagescited by 4
  10. 2024Real-Time Spacecraft Pose Estimation Using Mixed-Precision Quantized Neural Network on COTS Reconfigurable MPSoCcited by 2
  11. 2024Computer vision tasks for intelligent aerospace missions: An overviewcited by 1
  12. 2023Modular Quantization-Aware Training for 6D Object Pose Estimationcited by 0
1 more
  1. 2025GKNet: Graph-based Keypoints Network for Monocular Pose Estimation of Non-cooperative Spacecraftcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025FastPose-ViT: A Vision Transformer for Real-Time Spacecraft Pose Estimation
  2. 2025Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimation
  3. 2024DreamSat: Towards a General 3D Model for Novel View Synthesis of Space Objects
  4. 2025Scalable Unseen Objects 6-DoF Absolute Pose Estimation with Robotic Integration
  5. 20256DAttack: Backdoor Attacks in the 6DoF Pose Estimation
  6. 2026Efficient Onboard Spacecraft Pose Estimation with Event Cameras and Neuromorphic Hardware
  7. 2022HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation
  8. 2024SSTD: Stripe-Like Space Target Detection Using Single-Point Weak Supervision