# Test-Time Adaptation for Keypoint-Based Spacecraft Pose Estimation Based on Predicted-View Synthesis

arXiv: https://arxiv.org/abs/2410.04298 · HTML: https://mlsanity.com/paper/2410.04298/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 19 of its 59 references that are in the map.
- First posted on arXiv 5 Oct 2024.

## Builds on (most cited first, 19 of 19)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [Simple Baselines for Human Pose Estimation and Tracking](https://mlsanity.com/paper/1804.06208/) (2018)
- [Integral Human Pose Regression](https://mlsanity.com/paper/1711.08229/) (2017)
- [Kornia: an Open Source Differentiable Computer Vision Library for PyTorch](https://mlsanity.com/paper/1910.02190/) (2019)
- [Understanding the Limitations of CNN-based Absolute Camera Pose Regression](https://mlsanity.com/paper/1903.07504/) (2019)
- [Joint Training of a Convolutional Network and a Graphical Model for Human Pose Estimation](https://mlsanity.com/paper/1406.2984/) (2014)
- [End-to-End Learnable Geometric Vision by Backpropagating PnP Optimization](https://mlsanity.com/paper/1909.06043/) (2019)
- [SPEED+: Next-Generation Dataset for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2110.03101/) (2021)
- [Satellite Pose Estimation with Deep Landmark Regression and Nonlinear Pose Refinement](https://mlsanity.com/paper/1908.11542/) (2019)
- [Deep Learning for Spacecraft Pose Estimation from Photorealistic Rendering](https://mlsanity.com/paper/1907.04298/) (2019)
- [Wide-Depth-Range 6D Object Pose Estimation in Space](https://mlsanity.com/paper/2104.00337/) (2021)
- [Robust Multi-Task Learning and Online Refinement for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2203.04275/) (2022)
- [Pose Estimation for Non-Cooperative Spacecraft Rendezvous Using Convolutional Neural Networks](https://mlsanity.com/paper/1809.07238/) (2018)
- [Test-Time Personalization with a Transformer for Human Pose Estimation](https://mlsanity.com/paper/2107.02133/) (2021)
- [Bridging the Domain Gap in Satellite Pose Estimation: a Self-Training Approach based on Geometrical Constraints](https://mlsanity.com/paper/2212.12103/) (2022)
- [Adaptive Neural Network-based Unscented Kalman Filter for Robust Pose Tracking of Noncooperative Spacecraft](https://mlsanity.com/paper/2206.03796/) (2022)
- [Novel Views of Objects from a Single Image](https://mlsanity.com/paper/1602.00328/) (2016)

## Built on by (most cited first, 1 of 1)

- [Enabling Robust, Real-Time Verification of Vision-Based Navigation through View Synthesis](https://mlsanity.com/paper/2507.02993/) (2025)

## Abstract (arXiv)

Due to the difficulty of replicating the real conditions during training, supervised algorithms for spacecraft pose estimation experience a drop in performance when trained on synthetic data and applied to real operational data. To address this issue, we propose a test-time adaptation approach that leverages the temporal redundancy between images acquired during close proximity operations. Our approach involves extracting features from sequential spacecraft images, estimating their poses, and then using this information to synthesise a reconstructed view. We establish a self-supervised learning objective by comparing the synthesised view with the actual one. During training, we supervise both pose estimation and image synthesis, while at test-time, we optimise the self-supervised objective. Additionally, we introduce a regularisation loss to prevent solutions that are not consistent with the keypoint structure of the spacecraft. Our code is available at: https://github.com/JotaBravo/spacecraft-tta.