# Precision-Aware Illumination-Disentangled Vision Transformer for Spacecraft 6D Pose Estimation

arXiv: https://arxiv.org/abs/2606.11619 · HTML: https://mlsanity.com/paper/2606.11619/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 27 references that are in the map.
- First posted on arXiv 10 Jun 2026.

## Builds on (most cited first, 16 of 16)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [V-Net: Fully Convolutional Neural Networks for Volumetric Medical Image Segmentation](https://mlsanity.com/paper/1606.04797/) (2016)
- [Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry and Semantics](https://mlsanity.com/paper/1705.07115/) (2017)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1812.11788/) (2018)
- [SPEED+: Next-Generation Dataset for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2110.03101/) (2021)
- [Robust Multi-Task Learning and Online Refinement for Spacecraft Pose Estimation across Domain Gap](https://mlsanity.com/paper/2203.04275/) (2022)
- [A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospects](https://mlsanity.com/paper/2305.07348/) (2023)
- [6D Object Pose Estimation from Approximate 3D Models for Orbital Robotics](https://mlsanity.com/paper/2303.13241/) (2023)
- [Uncertainty-Aware Knowledge Distillation for Compact and Efficient 6DoF Pose Estimation](https://mlsanity.com/paper/2503.13053/) (2025)
- [FastPose-ViT: A Vision Transformer for Real-Time Spacecraft Pose Estimation](https://mlsanity.com/paper/2512.09792/) (2025)
- [Cov2Pose: Leveraging Spatial Covariance for Direct Manifold-aware 6-DoF Object Pose Estimation](https://mlsanity.com/paper/2603.19961/) (2026)
- [Component-Aware Structure-Preserving Style Transfer for Satellite Visual Sim2Real Data Construction](https://mlsanity.com/paper/2605.19624/) (2026)

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

- [Vision Foundation Models with Synthetic-Only Training for Monocular Spacecraft Pose Estimation](https://mlsanity.com/paper/2609.26561/) (2026)

## Abstract (arXiv)

Vision sensors provide a lightweight solution for spacecraft proximity operations, but monocular spacecraft 6D pose estimation remains difficult under illumination variation, specular reflection, shadowing, weak texture, and background interference. These factors make local visual evidence spatially unreliable and can destabilize pose regression. This article proposes a Precision-Aware Illumination-Disentangled Vision Transformer (PAID-ViT) for robust spacecraft pose estimation.The proposed model separates pose-relevant structure tokens from illumination-sensitive appearance tokens, estimates patch reliability before pose aggregation, and uses foreground mask supervision to preserve silhouette cues. A parameter-free geometric recovery module converts normalized crop coordinates, log-depth, and a continuous 6D rotation representation into camera-frame rotation and translation. Experiments on SPEED+ V2, the SPEED+ validation/lightbox/sunlamp evaluation configuration used in this study, suggest that PAID-ViT reduces translation error and improves robustness in the challenging sunlamp domain, while ablation studies support the complementary roles of illumination disentanglement, reliability-aware token aggregation, mask supervision, and training-side regularization.