# DreamSat-Pose: Spacecraft Pose Estimation from Single-View 3D Reconstructions and Learned 2D-3D Feature Matching

arXiv: https://arxiv.org/abs/2607.13449 · HTML: https://mlsanity.com/paper/2607.13449/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 13 of its 25 references that are in the map.
- First posted on arXiv 15 Jul 2026.

## Builds on (most cited first, 13 of 13)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Sinkhorn Distances: Lightspeed Computation of Optimal Transportation Distances](https://mlsanity.com/paper/1306.0895/) (2013)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [DINOv3](https://mlsanity.com/paper/2508.10104/) (2025)
- [FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects](https://mlsanity.com/paper/2312.08344/) (2023)
- [Hunyuan3D 2.0: Scaling Diffusion Models for High Resolution Textured 3D Assets Generation](https://mlsanity.com/paper/2501.12202/) (2025)
- [Satellite Pose Estimation with Deep Landmark Regression and Nonlinear Pose Refinement](https://mlsanity.com/paper/1908.11542/) (2019)
- [Correspondence Networks with Adaptive Neighbourhood Consensus](https://mlsanity.com/paper/2003.12059/) (2020)
- [A Survey on Deep Learning-Based Monocular Spacecraft Pose Estimation: Current State, Limitations and Prospects](https://mlsanity.com/paper/2305.07348/) (2023)
- [Towards Robust Learning-Based Pose Estimation of Noncooperative Spacecraft](https://mlsanity.com/paper/1909.00392/) (2019)
- [DreamSat: Towards a General 3D Model for Novel View Synthesis of Space Objects](https://mlsanity.com/paper/2410.05097/) (2024)
- [DreamSat-2.0: Towards a General Single-View Asteroid 3D Reconstruction](https://mlsanity.com/paper/2508.01079/) (2025)

## Abstract (arXiv)

6-DoF pose estimation is a critical task in autonomous rendezvous and proximity operations. In the case of an unknown target, this task becomes challenging as it shall be paired with the reconstruction of the target shape model. In this article, we propose a novel framework for single-shot shape and pose estimation of unknown spacecraft objects. Given a single image, we first reconstruct a 3D shape model of the target, then estimate the relative six-degrees-of-freedom pose by learning dense 2D-3D correspondences. The image features are extracted using a frozen DINOv3 vision transformer, while the geometric features are computed from the reconstructed point cloud using a trainable dynamic graph convolutional neural network encoder. A dual-stream transformer matcher refines descriptors through alternating self- and cross-attention, producing soft correspondences that are passed to a Perspective-n-Point solver for pose recovery. We evaluate the method on the SPE3R dataset and consider FoundationPose as a representative baseline for current state-of-the-art capabilities. Results show reliable pose estimates achieving 0.157 degrees mean pointing error using only a single image and reconstructed geometry, demonstrating strong generalization to unseen spacecraft.