Spacecraft Pose Tracking via Kinematic Prediction and Selective Event Correction

Key points

• Observation-Aligned Event Innovation (OA-EI) uses events to correct selected components of this prediction.1
• A constant-body-twist model propagates the complete pose; the event encoder proposes rotational and normalized image-plane translation corrections, retaining propagated axial depth.1
• Each rollout starts from two reference poses and then uses self-estimates.1
• Matched ablations favor the rotation-bearing interface for overall pose accuracy; combining scaling with activity support gives the lowest errors at every tested event-retention level.1

Sources (1)

• [1]Spacecraft Pose Tracking via Kinematic Prediction and Selective Event Correction
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 14, 02:46 AM

  In initialized spacecraft tracking, a short-horizon motion prediction remains available as event support changes.

  Observation-Aligned Event Innovation (OA-EI) uses events to correct selected components of this prediction.

Extractive summary: sentences quoted from the sources.